Here is a demo of the kinematics library being used as an inverse kinematic controller for a 3D printed 6DOF micro manipulator arm. The arm consists of 6 servo motors and an Arduino Due microcontroller which runs the IK controller using the Kinematics library and sets the joint angles of the servo motors using PWM signals.
Click on the image below to watch a video which shows the controller jogging the end effector in the cartesian space.
Description: This repository contains a kinematics library for the Arduino platform. The library can be used for various robotics projects to solve kinematics equations such as forward kinematics and inverse kinematics. In addition the library provides tools for matrix manipulation, standard operators for matrices and the computation of the Jacobian which can further be used to solve velocity kinematics or statics and dynamics equations.
Method: The library uses the joint screw axes of the kinematics chain and the end effector pose at the zero configuration to determine the kinematic relation between the joint angles and the end effector pose. To solve inverse kinematics, the library uses the Newton-Raphson Algorithm which is an iterative numerical algorithm to find the roots of non linear equations.
Here is a GIF of the kinematics library being used to control a small scale 6 DOF manipulator arm built using servo motors and 3D printed parts.
The Arduino IDE is necessary to run Arduino scripts and program your Arduino board. The IDE can be downloaded at the following link: https://www.arduino.cc/en/software
To install the kinematics library on the Arduino IDE go to Sketch -> Include Library -> Manage Libraries and search for Kinematics in the search bar. Select the latest version and click Install.
In case this method doesn't work, use the following steps:
- Download or clone this repository
- On the Arduino IDE navigate to Sketch -> Include Library -> Add .ZIP Library...
- Select the repository that you just downloaded and click OK
The library consists of 2 primary classes. Note that 2 examples scripts are also provided for forward and inverse kinematics. Refer to the DOCS for more information on the classes and methods that are available.
Distributed under the MIT License. See LICENSE for more information.
Kousheek Chakraborty - [email protected]
Project Link: https://github.com/kousheekc/Kinematics
The library is inspired by the Modern Robotics course and the accompanying book by Kevin M. Lynch and Frank C. Park. Here is a link to the material: http://hades.mech.northwestern.edu/index.php/Modern_Robotics