Inverse kinematics of a ball balancing robot.
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- เผยแพร่เมื่อ 28 มิ.ย. 2024
- In this video, the explanation starts from the basics of inverse kinematics and goes all the way to deriving the inverse kinematics of a ball balancing robot in detail.
#handmade #robot #engineering
github:github.com/KoshiroRobot/Ball-...
This is what every bachelor robotics needs for his or her thesis. This was a pain to get my head around at the time. Thank you so much!
The AI voice is top notch. It took me awhile to notice something was off
This is why the internet is a good thing
Great video. It's nice being able to see the details.
Thanks for the explanation. Unfortunately it was wayyy too fast. I would have to watch it probably 100 or 200 times to break out all the details you covered to see if i actually understood what you said. I appreciate at least that you explained the details even if it's in a super condensed format. Thank you
Thanks for the video. I always wanted to build such a robot on my own. No as I see the complicated math, I don’t know whether I would have succeeded. Maybe I build yours someday. I’m really looking forward seeing the ball bouncing.
thank you !
Thanks for sharing. I have the exact setup in my artwork Fluidum (just 85x and synced all together). Can you tell whether it's possible to place platform's center point above the platform't plane? Is it mathematically possible or not? I am not sure.. Thanks.
If you could show us what kind of artwork you are referring to with photos or other materials, we might be able to give you a more accurate answer. When you mention the platform's center point being above the platform plane, do you mean that the platform has a very thick underside which is considered the platform plane, and that the tilt and height are controlled by a 3RRS parallel manipulator, with the top center being the platform's center? Are you aiming to achieve a ball balancing mechanism?
Do you have recommended orientations for printing the parts? I printed them all last night on my FFF printer but now I think I should redo them on the resin printer. I’ve ordered some engineering resin that should do well for these parts.
For FFF printers, in my experience, it is generally best to orient the parts so that the direction of the force applied to the parts is perpendicular to the print layers. Also, it’s better to ensure that the axis of screw holes is as perpendicular to the print layers as possible. For resin printers, you should place the part so that the side where you want the highest accuracy is opposite to the platform side, as the platform side tends to warp. Additionally, tilting the part at an angle seems to reduce warping.
@@Koshiro_Robot_Creator Thanks. When I first loaded your STLs they were in all manner of orientation, so I arranged them to be more-or-less as you describe, but I'm not happy with the results for some of them. I wondered if maybe your STLs were in a specific orientation designed by you.
@@OriginalJetForMe
Since the model was only downloaded after adjustments in Blender, the print orientation and the model's orientation in the STL file are unrelated.
If you proof this robot can also balance chicken eggs... I'll buy seven right away.
Would you want your eggs sunny side up or over easy? 😊
@@JensGulin Please use the sAIviour of mankind to let the machine figure it by just watching my mood in the morning!!! Every good house wife can do that since thousand of years...
And if you add the original voice of the swedish chef of the muppets while frying the eggs I'll invest all my IT millions in your startup! And we'll need many millions just to get the rights from Disney!