robot software
proposed by Prof.Satoshi Nishimura image00 / Jichi Med Univ(JAPAN)

E-mail: (snishi-tky(a-mark)ninus.ocn.ne.jp ) 　URL: (www.satoshi-celica.com ) image00
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robot software


master PC softwrae send orders to arduino (slave) connected to motor controllers.


simulation results of available ares of robot fingers (motor0 fixed)


simulation results of available ares of robot fingers (motor0 moved)
one arm has excessive motor axis for each point


Movie: play MP4 image00


reverse kinetic calculatoin showed multiple possible resutls


precise STL files are made for each parts checking possible "collisoin"


STL data imported to control software


calibrations to measure "motor step numbers per 1degree"


these results are saved in txt


for each motion, motor steps are calculated without causing collision
software alerts and calculation finished before collision
learning pose


after reset, zero position


1.manual number input

    users can directy adjust each motor


    slave arduino move motors
    images being captured before and after movement


    motor position can be stores, and re-load as "pose"


    Movie: play MP4 image00


2. joystick fitting input

    x-box controller showing next finger-tip position
    when L1/R1 button pressed, available best route was calculated and ordered to arduino


    Movie: play MP4 image00

3.sequence play

    these poses can be saved


    and can be re-played as "sequence"


4.making UI

    hand-made analogue joystick controllers


    hand-made analogue slider controllers, 12 axis


    Movie: play MP4 image00





better GUI is key for better movement

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