Simple Inverse Kinematics and iPhone control [for any DIY Robotic Arm]
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- เผยแพร่เมื่อ 2 มิ.ย. 2024
- Simple Inverse Kinematics for serial robotic arm is finally here! I also discovered the interesting motors from SimplexMotion, with its unusual and effective way to measure the brushless motor rotor position. Thanks to this innovation their motor-controller assembly is very compact, and perfectly suitable for the stepper motor replacement. Also, and may be even more important, I showed how to easily add the smartphone (iPhone) control to your DIY robot arm. And I think this video should be interesting for everyone who likes DIY robotics!
Special thanks to my special Patrons: Wesley Corp, RobotDigg Shanghai, Pierre Freyssinet, Shounak Bhattacharya and Tom Rodinger!
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#DIY #Robot #Robotics - วิทยาศาสตร์และเทคโนโลยี
I would watch more of your videos if you make more in-depth and walk-through tutorials for those who want to get into robotics!
great stuff here!
Particularly stuff with cheaper actuators haha!
Check out the biped robot on my channel, I try and explaining things as I go. Let me know if it was helpful
@@Build_the_Future subbed 😊👍
@@JeremyDWilliamsOfficial Thanks for the support
@@Build_the_Future i watched some videos on your channel. found no step by step explanation either...
the simplicity of that 3-motor arm, sample code and hrdf information made this seem very approachable. nice.
Exactly!
Very interesting! Thanks for the input!
Awesome! I'm waiting for more !!!
Thanks for your time in this video
The last five minutes of this video were gold for me. Thanks!
Thank you for such a simple to follow and well structured video. Love your work.
The robots! The music!
Really enjoy your channel!
Excellent video, thanks 👍
great job!!!!! i really enjoy watching your videos!!!
Great job! This is very helpful, thanks.
Yes today was interesting, every video is interesting, thank you 😊
Excellent content. Thanks :)
Great job! Best regards Nico from Nico's Projects
Yey
Great video! A really great intro to building simple robotic arms! And I really liked the motors that u used.
Thank you!
Thank you for testing the higher end motors and controllers.
Always you do a great job
you're the best, thank you. by the way, nice music😏
another really good video
nice explanation!
That you, really interesting!
Well done. I very much like the modbus rtu info, well presented. Thanks
Than you for your comment!
Amazing video, as always! Do you plan to develop a cable-driven robot? Maybe combined with some nice motors like these ones? I really liked the video that you did a while ago.
thanks very much for the inverse kinematics
Awesome work I wish you success i love your work very interesting I hope to see more contents like how you choose how the robot arm will look like what length etc :)
Great video
Hello ! I am learning a lot from your channel. Thank you! BTW I see what you did there Slyentific 😏
Good stuff! Awaiting the non-backlash actual arm tho;)
Good video, but I would suggest you make a series where you start from regular stepper motors(the ones that you have are very expensive for a common viewer) create a controller board a very simple one, with simple serial communication or i2c. Once you have the platform designed and build make a robot based on that.
very good video.
Thank you!
900W is a little low I use 2500w motors on my robot, and they are the same size.
Good video :)
Very good video
very interesting!
I like your socks!! :D
Finally some notice them! :) Thank you!
Great ✨
Great video! Have you ever though about trying a control demo with one of your arms? I think it would be cool to see one of these arms balencing a ball on a convex plate
Slyentific... Anyway man keep up the great content...
Nice job! Might be helpful in the future to have links to hebi, etc in the description. I never heard of hebi before.
And maybe ask hebi to sponsor you too. I'm sure this will help them reach the right audience.
Было бы еще интересно в других видео посмотреть проектирование поворотных узлов с подшипниками во фьюжене, например ног экзоскелета
Do you have ballerinas in your family? Your robots make me think of them whenever I see them move.
Great informative video. You mentioned that this product can be used in CNC as replacement for stepper motors. I would be interested to see how you got accurate angular position using HAL sensors and how it compares to approaches using simple Back EMF or even better what you described in previous videos for the MIT Cheetah controller ( axial magnetic sensor AS5X47U)
I am not sure how these servos would be better than the iHSV57 180w ones. Especially since those are basically drop in replacements for stepper motors with standard nema mounting and dimensions, plus can be driven directly with Step and Dir which allows you to keep your old controller or breakout board. Not to mention those are quite a bit cheaper than these motors.
First, It's really impressive what you're setting out to do here. Second, I'm a senior in the Engineering Physics program at UMaine, and my senior project is focused on the development of affordable robotic actuators. I've dubbed the Project PASSR (Precision actuator for Small Scale Robotics) and I would love to share it with the community and you, maybe even get your input @Skyentific !
"Small Scale Robotics"... Have you seen the Felex AR? That tiny thing is amazing in how tiny while capable the flexible PCB coil is. If you could come up with a way to use precision with that, I think it would be ground breaking.
Отличный материал. Ещё один повод наконец то сесть за python.
🍻Thank you for this video!
I loved the walk through of the software and how you got it working. Especially the HEBI components. I’m curious if you will be getting into ROS? I noticed the HEBI github also had ROS files. I also noticed you didn’t enter centre of mass or measured mass (mass and com_trans variables). You mentioned you weren’t “doing any dynamics”. If you did enter those values, would the motion over-shoot be better controlled? And is that part of an underlying PID built into the HEBI modular? Thanks again! And those are some cool motors. 😎
@Jeremy Williams You can think of robot motions at different levels that interact with each other:
(1) Forward/Inverse Kinematics: Where is the end effector currently and where should it be?
(2) Trajectories: What path should the robot take to get there and how fast should it move?
(3) Motion Control: How can a particular physical system track a desired trajectory?
Dynamics is important for (3) when mapping accelerations to forces/torques, particularly as systems become larger and have more inertia. The PID controllers live one level below. Here is a video that explains the concept: th-cam.com/video/9WjNo5DCtfg/w-d-xo.html
So if you want to draw a straight path with little overshoot, you would (a) use IK to compute multiple intermediate waypoints that form a straight line to the desired goal, (b) compute a trajectory that passes through these intermediate waypoints, and (c) command positions along the trajectory with appropriate feed forward velocities/torques.
@@florianenner7435 thank you! I really appreciate the time you took to reply and your information is very useful. I’ll check out your video suggestion later today 😊👍
I use FreeCAD to model my robots. It is quite cool because it has a built-in python interpreter, so one can model, 3D print and assembly the robot, and use the same 3D model to control the real robot. FreeCAD can also solve the kinematics and even do some dynamics simulations using MBDyn...
Спасибо, интересно
How about dabbling into harmonic reduction systems? Perhaps it would help with the backlash.
sir, I tried using the hebi api for 6DOF robot simulation, The positioning part works perfectly but I am do not get any response when i try to orient the robot. I mean the first three axis wok great, but the next three axis are non responsive. Can you please share some suggestions or study material?
Do you have any suggestion of cheap/efficient reduction gearbox?
Hi! I'm looking to build a robot arm for my project. Right now have two options 1) AR3 6 Axis Robot from Chris Annin channel (his day job is in robotics) 2) Your project. Can you say how much will cost to build your roboarm? Спасибо. Всего хорошего!
"Because soldering is boring"... I really liked you before you said this! :D Just kidding, thanks for an informative video!
Nice overview!
When you follow the cross at 9:10, why the robot is driving this "hook" by turning left and right? Kind of unprecise or too much gain in control parameters?
I think it's because the robot just jumps from one position to the other, it doesn't follow a trajectory so there is some overshoot during the motion because it tries to go from A to B as fast as possible.
Could you please tell me what 3D printer you use and any recommendations?
Did you use DH-Transformation by the inverse kinematics?
Nice socks 😆
ModBUS RTU - тоже пришлось вникнуть, что бы ручное управление токарным станком не переключать на ПЧ (преобразователь частотный).
Так что можно управлять и с пульта (цифровыми пинами) и по ModBUS RTU, за одно выводить все нужные параметры на дисплей.
can you make stuff with more affordable parts?
I like how at 1:24 you say "this, my robot," and you touch it affectionately, like you would a girlfriend, hahaha.
lmao
I have question, what books do you recommend for robotics?
Which software are you using ?))Tell please )
Hello )
What is the cost of such a robot. And can you add a vision system or do you have videos of such a thing? Trying to have it grab and picks up a cable and plug it into a non fixed location outlet, one that can slightly change its position, so would need to see and find the outlet and plug it in. Thanks.
0:01 "Slyentific"? Attention to details is good for engineering! 😉
Aaaaaaa! How it happend?!!!
@@Skyentific Ай-ай-ай, какая небрежность и невнимательность! 😉
are you able to measure torque load with these motors?
This really reminds me of how dynamixels work with the firmware addresses. I know they are also made to be used in robotic arms and humanoids also.
I never used them. But I think you’re right.
Hi, It is similar to how DYNAMIXEL firmware addresses work!
Isn't ros moveit library more applicable to these types of tasks?
As far as I know, it is powerful, but also complicated library. Which you cannot learn in just one day. With hebi robotics python module it took me lees than half a day to understand how to use forward and inverse kinematics.
Ah, "Hebi" I listened many times but couldn't understand what you said here. 👍
Very useful python library! inverse kinematics is a pain :p
thanks for sharing
can you use the same software to program robot made with closed loop steppers ? have a few of thease lying arround so it would be great to meke something of them maybe tutorial with good old closed loop steppers wouyld be nice :D
Yes, of course it is possible!
Hi my friend i am from Ecuador... very good content. I like very much your videos... what book do you recomend about modeling, control with CODE IMPLEMENTATION about robot arms... thank you!
The simplex motion motors are impressive. If you could get the baby motor in the $50 ball-park, you could make a VERY impressive 3D printer.
Yes, but not now. The cheapest motor itself cost around 50$. And the components for the controller would cost another 50$. And all this is with cheapest components. If you take good components (not the cheapest) the motor will be around 100$ and controller would cost another 80-100$ at least. You add your RnD costs, your margin, and you will easily go over 300$
@@Skyentific totally understand. For a small volume product $300 is quite inexpensive. Just mentioned that low price point because it looks like they could hit it if someone ordered a massive batch. (I.e. 10,000+)
@@martylawson1638 you might want to consider the iHSV57 motors for a 3d printer if you want servos ($80 from Aliexpress and 100-130 locally, depending if 100W or 180W model). They are a drop in replacement with Nema 24 motors and allow to be driven directly with step/dir which helps a lot when upgrading a existing setup using steppers (great for CNCs especially).
Tho not enough for such a large robot arm without some serious reduction (which will reduce any chance to use backdrive)). Do mind there are 400W ones out there for $158, which are more realistic for a smaller robot arm.
@@exol511 Good find, it's hard to tell if it's actually a permanent magnet AC synchronous motor (aka a BLDC motor) or a closed loop stepper. Added it to the pile of links for when I get serious about building that printer
Marty lawson its a servo motor 100%. You can check the datasheet and there are a few instances on youtube demonstrating it. Do watch as the integrated ones without the dip switches are steppers (closed loop)
Hi skyentific. Im a used kuka robots dealer. I have many kuka arms with siemens resolver servos.would you able to develope a controller to run them. We will need amplifiers also fo all 6 axis
I can help you in that , send me more information through eng.salah_reda@hotmail.com
Is there robotic actuators that can lift 30-40kg fast?
Next time plz try interface converters from Robotis (Dynamixel U2D2) it's really good ......and a good move using the minimal modbus I have been using it for all my industrial robots projects
I agree the U2D2 is a great UART communication converter I use it every day.
And what about math behind inverse kinematics? Will you do explanation video about those calculations?
Would you be interested in such video? And why? I though, that for most people it is important to do inverse kinematics, but does not important how. And only important to do it in simple way.
@@Skyentific As for me, of course I do! It's the only thing I cannot understand for a long time and cannot find a good explanation of those mathematical formulas, matrix rotations etc. Also, there are different structures of robot arms, some of them does not have ready IK algorithms available, so it would be great to understand the main principles of the IK and be able to program them.
WOW. What kind of price are those¿
How do the motors know their home position with these hall effect sensors?
Same techniques used for geared motors with absolute encoder. Put another absolute encoder or potentiometer on the output shaft, or use limit switches and a homing procedure, or sensorelss homing where you move until the joint reaches the end of its range, with a low current limit so it won't push hard enough to damage anything, but will still be able to detect when it's hit an obstacle.
@@dekutree64 thank you for your reply!
I thought the motors would have something built in for that matter.
How much it costs for produce it?
I looked up Simplex Motion. Doesnt look like you can buy them anywhere.
Only in Sweden, Germany and a couple of other places. Not in the US or UK. Anyone know of any alternatives?
Where i can get the code ? Pleese tell me..
how much kv is that motor?
there was some wobble flexibility. i think in the bottom part. also the pid is not working well
This arm was build just yo test the inverse kinematics. Pid work fine, just need to adjust the pid values for this loads. But as it was only for the simple quick test I did not waste time for this.
Update rate?
a comment!! :)
А режим управления по моменту как выглядит по факту ?
Что значит как выглядит? В режиме постоянного момента мотор прикладывает одину и туже силу, если на мотор ничего не прикреплено, то он будет просто раскручиваться и разгоняться.
@@Skyentific имелось ввиду отдают по протоколу текущую нагрузку ?, и можно ли задавать перемещение с нужным моментом ?
@@maxekb77 да, это гораздо интереснее! :) Можно следить за текущим моментом (он все время обновляется в одном из регистров). Плюс можно задать максимальный момент, за который мотор не будет заходить. Надеюсь это ответит на ваш вопрос.
@@Skyentific спасибо, есть интерес сделать робот который можно за голову таскать а без этой штуки получается никуда
I see a lot of potential for your robots in controlling the motion of small video cameras. This would be greatly enhanced if you add a degree of motion which is a linear movement along the rails. High end video cameras with their lenses and associated support still weigh 20-30 lbs which requires giant robot arms costing > $100K (for reference see www.mrmoco.com/motion-control/bolt/ ). But some very good tiny cameras such as Sony's latest can reduce the weight down to a single kg which makes smaller arms more feasible. Also check out the work of Steve Girault (www.the-garage.tv/about) who is opening an online school on visual engineering (video) and who relies extensively on a combination of robots to move the camera and computer controlled actuators to move the subject. I'd be glad to put together a summary of robot usage in videography and what might be accomplished by smaller but low cost arms.
why don't stepper motor
for youtube algorithm
коммент чтоб поддержать канал. В тех. деталях особо не разбираюсь ((
Прошу, субтитры!
@6:50 can anyone help me understand what he is saying? "Heavy robotics" or "Heppy robotics" is all I can understand. No disrespect intended. I rewound and listened closely several times and it doesnt make sense to me.
HEBI robotics. :)
th-cam.com/video/glBd_JDSnRo/w-d-xo.html I reference to this video here.
I am always surprised when a company is not from asia.
Y X Z (=X -Y Z) why not X Y Z ?
I used X Y Z. Not Y X Z :)
@@Skyentific -so you're saying on your hand first there is the index finger (x), then middle finger (y) and lastly thumb (z)?- Seems weird but ok.
Edit: ah, I see, it's X Y Z but you would have to start with the thumb :D
Выхода годного ноль. Я еще ни одного конечного видео не видел с конечным результатом.
Little disappointed you are using expensive motors as a reference guide to building a robot. Ate the motors closed loop?
"This motor isnt too expensive, only 350 dollars"
...and you lost me
th-cam.com/video/RTJcFyFXNE4/w-d-xo.html a perfect motor should have this effect (flux leakage) in general! Isn't it?
You lost me at $350