AX-12 Arm
AX-12 Arm
by Pedro
Fri Jun 17, 2011 3:15 pm
Hi all,
I have just discovered your forum and I have not found an answer to my question, I am sorry if I have not seen the answer in another topic.
I am trying to control an AX-12 arm in a cartesian mode. I have already programmed an algorithm in C# which calculates good positions (angles)for each joints. New angles are determined in function of the wanted position in space (in x, y and z axis).
In outline : wanted position (x, y, z) ==> my software ==> new joint positions
Now, I would like to modify the AX12 arm program in order to change wanted position (in space) with the joystick and send to the arm new good values of each joints.
Joystick ==> [[wanted position (x, y, z) ==> my software ==> new joint positions ]] ==> arm
The problem is I don't understand well the program code and I don't know how to do this.
Someone has an idea for solving it ?
Thank you very much in advance for your help,
Pierre
I have just discovered your forum and I have not found an answer to my question, I am sorry if I have not seen the answer in another topic.
I am trying to control an AX-12 arm in a cartesian mode. I have already programmed an algorithm in C# which calculates good positions (angles)for each joints. New angles are determined in function of the wanted position in space (in x, y and z axis).
In outline : wanted position (x, y, z) ==> my software ==> new joint positions
Now, I would like to modify the AX12 arm program in order to change wanted position (in space) with the joystick and send to the arm new good values of each joints.
Joystick ==> [[wanted position (x, y, z) ==> my software ==> new joint positions ]] ==> arm
The problem is I don't understand well the program code and I don't know how to do this.
Someone has an idea for solving it ?
Thank you very much in advance for your help,
Pierre
by i-Bot
Fri Jun 17, 2011 4:41 pm
Can you tell us bit more about the joystick and the arm ?
Most joysticks have only 2 degrees of freedom, so can't control movement in 3 dimensions. Is it a game controller with two sticks and additional buttons you want to use ?
How many DOF does your arm have ? Can you also change orientation of the end effector? Do you want to control this too ?
Most joysticks have only 2 degrees of freedom, so can't control movement in 3 dimensions. Is it a game controller with two sticks and additional buttons you want to use ?
How many DOF does your arm have ? Can you also change orientation of the end effector? Do you want to control this too ?
by Pedro
Fri Jun 17, 2011 5:43 pm
Hello,
Thank you for your reply. Yes it is a game controller.
This is the wanted configuration.
http://www.esiee.fr/~badeforp/gamepad.jpg
My arm has 3 DOF (base, shoulder and elbow). The wrist and the end effector will be control independently from others.
I don't know how to coordinate my software with this existing program (http://www.forestmoon.com/Software/AX12ArmSample/ )or how to code a new program (much more difficult I guess).
Thank you for your reply. Yes it is a game controller.
This is the wanted configuration.
http://www.esiee.fr/~badeforp/gamepad.jpg
My arm has 3 DOF (base, shoulder and elbow). The wrist and the end effector will be control independently from others.
I don't know how to coordinate my software with this existing program (http://www.forestmoon.com/Software/AX12ArmSample/ )or how to code a new program (much more difficult I guess).
by Pedro
Sun Jun 19, 2011 6:48 pm
Hello,
Actually, I have only the Forest Moon code which controls my robot. This software controls the robot joint by joint. I would like to modify it to control the robot with my wanted configuration (with the gamepad) and control each joint at the same time with inverse kinematics. I have developed a program in C#which calculates good angles for joints. It works and it is OK. However I have to connect my C# program with the Forest Moon code but I don't understand well this code and I don't know how to connect these 2 programs.
When there is an action on the horizontal left cross of the gamepad, I have to modify a value X for the X-axis for example. I have to do the same thing for the vertical left cross for the Y-axis... I don't know how to do that, I have not program a lot and never with gamepad/joysticks software.
Moreover, when I try to run the Forest Moon code with visual studio an exception appears.
Do not hesitate if you don't understand well what I mean or you want more information.
Thank you for your help
Actually, I have only the Forest Moon code which controls my robot. This software controls the robot joint by joint. I would like to modify it to control the robot with my wanted configuration (with the gamepad) and control each joint at the same time with inverse kinematics. I have developed a program in C#which calculates good angles for joints. It works and it is OK. However I have to connect my C# program with the Forest Moon code but I don't understand well this code and I don't know how to connect these 2 programs.
When there is an action on the horizontal left cross of the gamepad, I have to modify a value X for the X-axis for example. I have to do the same thing for the vertical left cross for the Y-axis... I don't know how to do that, I have not program a lot and never with gamepad/joysticks software.
Moreover, when I try to run the Forest Moon code with visual studio an exception appears.
Do not hesitate if you don't understand well what I mean or you want more information.
Thank you for your help