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Thread: 6DOF Robot Made in India

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  1. #1
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    Default 6DOF Robot Made in India

    We just completed this robot and still working to improve the movements. Please send in your suggestions and feedback!

    http://www.youtube.com/watch?v=1AGnSuOZc50

    We will integrate vision and other stuff with it soon and will be posting new vids soon!

    Thanks a lot
    Cheers

  2. #2

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    how do u control the motors?

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    There are 3 different levels of control

    at the top level we give a desired cartesian (x,y,z, roll, pitch, yaw) velocity
    this gets converted to joint velocities using inverse jacobians (matrix stuff) and this in turn is controlled using a PID to control the motors

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    Quote Originally Posted by akb1980 View Post
    There are 3 different levels of control

    at the top level we give a desired cartesian (x,y,z, roll, pitch, yaw) velocity
    this gets converted to joint velocities using inverse jacobians (matrix stuff) and this in turn is controlled using a PID to control the motors
    Very impressive my friend!

  5. #5
    Senior Member T-1000 debu's Avatar
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    @akb1980: Beautiful! I noticed the excellent use of IK too. One of the better implementations I have seen in a long time. Those look like AC servos to me, what PLC are you using with them? Also are you using some kind of Robotic Arm IP (Siemens or Fanuc or something?)

    Regards,

    Debu

  6. #6

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    Beautiful and elegant!!!!!


    asimov

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    Administrator T-1000 vikas's Avatar
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    Sweet , What a delight to something good which is indigenous.
    Vikas Patial

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    Thanks for the encouragement guys...

    we are not using any PLC -- this is controlled using a standard desktop pc (yes with windows) and c++. we use open source libs like roboop & boost and modify them with our own implementations of IK and Trajectory control.

    The motors are DC Servos.....

    Do add your feedback and suggestions on how to improve this!

    Cheers

  9. #9
    Senior Member T-1000 akshay66's Avatar
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    good one!!!
    Redefine it your way!!!!

  10. #10
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    That is so sweet. Good work.

    You should have a webpage or put a rundown of the specs in the youtube page.

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