This repository houses the source code for controlling my Revyn Arm robot. It is a 6DOF arm that is small enough to sit on a desk and can be made for an affordable price. I am trying to see how good a complex robot arm I can make with inexpensive materials. I am constantly making updates and changing things to see how much better I can make it. Check out the robot here at my website. https://brevinbanks.github.io/
In this repository I demonstrate some very basic robotics and controls principals. My code takes us through the process of finding and calculating the forward kinematics using DH parameters. Then we find the jacobian for the arm. I also have found the geometric inverse kinematics for the robot arm.
I also impliment some nice features that help in control. I put checks in the inverse kinematics scripts so we are always returned an elbow up solution. I also have convienient debugging plotters in the scripts that can be turned on or off.
I also developed a linear trajectory path planner and executer. The robot end effector will follow a straight line path while maintaining the orientation of the end effector, assuming the orrientation can be achieved by the robot at that position.
FK_Revyn: Calculates desired frame for any link of the robot given 6 joint angles
IK_Revyn: Calculates a possible set of 6 joint angles for a desired end effector frame within reach of the robot
Jac_Revyn: Calculates the spacial jacobian of the end effector relative to the base of the robot for a given set of joint angles
Revyn_Controller: Controls the robot with an Arduino and moves it in a rectangular pattern
Revyn_Controller_FK_Proving: Controls the robot with an Arduino and moves it to several spots defined by FK and IK
RevynMat2ArdController: Arduino script for interpreting joint angles sent over serial communication and moves the robot accordingly
Stay tuned for more updates.