Incorrect Link lenghts for Braccio

cgxeiji / CGx-InverseK

Inverse Kinematic Library for Arduino for a three link-arm system with a rotating base.

GNU General Public License v3.0

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Incorrect Link lenghts for Braccio #3

Open volt-k opened 3 years ago

volt-k commented 3 years ago

In README, as well as in the example code, the link lengths for Braccio are incorrect resulting in the calculations being off. The values that I measured and work for me are:

base that connects a0 with a1 with a length of 74 mm,
upperarm that connects a1 and a2 with a length of 125 mm,
forearm that connects a2 with a3 with a length of 125 mm,
hand that connects a3 with the end effector with a length of 160 mm. For the last one, the 160 mm points more less to the centre of the gripper, use 195 mm if you want to position the tip of the gripper instead.

With the above adjustments the code works great and makes the robot arm much easier to use. Thanks!

cgxeiji commented 3 years ago

Thank you very much for your feedback!

I will update the measurements :)

nickredsox commented 2 years ago

@volt-k

How did you define your .inits?

like this?

 base.init(74, b2a(0.0), b2a(180.0));
  upperarm.init(125, b2a(15.0), b2a(165.0));
  forearm.init(125, b2a(0.0), b2a(180.0));
  hand.init(195, b2a(0.0), b2a(180.0));

volt-k commented 2 years ago

@nickredsox Yes, exactly like this. In the last line I actually use 157 instead of 195, but that's only because I'm not using the original gripper.

rawkss commented 1 month ago

@nickredsox Yes, exactly like this. In the last line I actually use 157 instead of 195, but that's only because I'm not using the original gripper.

@volt-k Hi, I used your inits becaused i measured my robot physically and the numbers match, but I cant seem to solve for any coordinates at all. Do you have an example of coordinates which would result in a solved state?

@nickredsox any advice as well?