Why need to calculate joint angle? Arduino IDE already have servo.write() function to declare angular position (in degree) of a servo inside the parentheses, so calculating the angle is make sense right? because we need that to be written in the servo.write() parentheses. Path of motion (or trajectory) from the toe of this leg can be modeled with a 3-dimensional Cartesian coordinate system (x-axis, y-axis, z-axis), then we should think what method that can convert or calculate joint angle rotation from given coordinate position of the robot legs tip, or simply by inputting the position of of the leg tip then the three joint on each legs will be calculated, this method is called Inverse Kinematics. For example, when the robot moves straight forward, the toe must stick to the surface and perform a straight backward motion to push its body forward. In robotics the edge of a robot that interacts with the environment or does work is called the End-effector, in quadruped robots this means the toe.
#INVERSE KINEMATICS ARDUINO SOFTWARE#
Then you probably wondering "why branch of mechanical study has something related to robot programming? isn't it electrical and software engineering field needed for the programming?" Okay, i'll explain why.
Let say we write program for this robot at least just for walk straight forward, now what you thinking? if you already experienced in microcontroller programming, or software engineering, you'd should be thinking that programming this robot is by controlling those 12 servo motor rotation that drive the joint, because it is the key variable. Quadruped robot in this project has 4 legs, and each leg has 3 joints which are driven by 3 servo motors, for a total of 12 joint driven by servo motors. In classical mechanics there is subfield, or branch, that study the motion of points, bodies (objects), and systems of bodies (groups of objects), its called Kinematics. These systems present better adaptability over wheeled systems, particularly when dealing with irregular terrain.īuilding a spider-like quadruped robot that at least capable walk straight forward, of course we have to arrange how each leg moves when it steps and when it pushes its body. Leg-based walking systems utilization has turned out to be very familiar with the robotics field.
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