r/interestingasfuck • u/PollutionOk9449 • 1d ago

High-precision robot arm programming

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u/k1ng4400 1d ago

I am a software engineer myself and yet I have no clue how to make the firmware and software like this.

12

u/After-Regret-6609 1d ago

You use a discipline called inverse kinematics. You basically solve the equation given the position of the head with the constraints of the length of each section of the arm for the rotation of all the joints.

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u/Upper_Top9348 1d ago

Start with programming a step motor. It's extremely simple. The precision on a cheap one is already pretty insane.

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u/Ordinary_Quantity_02 1d ago

That’s the thing though, these aren’t open-loop stepper motors, these are likely AC servos with 50 to 1 strain wave gearboxes. Using gearbox input and output encoders to measure flex and lash in the system compared to input and target.

You need to develop a complex control equation to run this properly and the best equation is different for every different robot.

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u/TheSheepOfWalStreet 1d ago

if head X below where head X be needed increase

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u/Terrorzwergi 1d ago

Why is that? It’s „basic“ math which you should have had at least in your engineering studies