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Post by wirecut on Apr 10, 2018 5:29:31 GMT -7
Hello to all.
I'm new to this forum and I joined because I was disappointed that the DOBOT, in its announcement, had to be all open source and driven by Arduino.
Given the state of the art, I would like to implement a control system for DOBOT or similar robot arm, starting from a completely different and innovative approach.
I would like to propose to this forum a completely new way to manage a robot arm, directly driving the stepper motors using driver like DRV8825 (RAMP) and programming the movement with Visual Studio. I use VBNET to program my automation and stepper motor movements.
All with a very low cost and all is open source.
If you are interested in this topic, I can give my contribution.
Bye
Leo
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Post by Max on Apr 11, 2018 13:14:47 GMT -7
Is it on github?
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Post by wirecut on Apr 11, 2018 23:43:30 GMT -7
Not on github.
Mybe in future. We have a dedicated web site.
I do not write our web address, until the Administrator authorize me to write it.
That just to avoid to be considered spammers.
Leo
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Post by Max on Apr 13, 2018 19:00:18 GMT -7
If you mean adminstrator of this forum then go ahead, I don’t mind
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Post by wirecut on Apr 14, 2018 2:18:22 GMT -7
Max, thank for your permission. I'm a member of a the Italian team that has developed an hardware, software and firmware OPEN SYSTEM called Theremino. The Theremino System is an easy way connect sensors and actuators with a Windows PC. You can found more information on our web site: www.theremino.orgIn the past we have developed an servo robot arm that you can see here: youtu.be/S8aXLacX14sWhat you see is the real speed, not video acceleration! We have experience to manage stepper motor, we have written a complete software to manage CNC with our Master. We have developed a reliable interface for stepper motor where you simply give the number of steps to do or mm to move or degree and all is managed automatically in term of acceleration, max speed and deceleration. Now I would use the mechanics like DOBOT or similar paletizing robot to build a working system REALLY OPEN. I would introduce the Theremino Tecnology in this forum and with the experience of the member on that forum we can build an open system to manage the small palletizing robot arm. This video give to you the state of the art: 1drv.ms/v/s!AlD8m0PKmAVWksJvmpr7aCLYys2eeQ My intention is to arrive to manage the robot arm giving X Y, and Z coordinate, instead of the actual system where I can set the number of steps to do to each motor. Leo |
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Post by wirecut on Apr 15, 2018 1:26:16 GMT -7
Hi, I have to show to you a couple of video just loaded on YouTube: This is my set up: youtu.be/iBqP0uhvbLMAnd this is the early test of Pick & Place: youtu.be/W_ZIBa4iowEThis is the result of my integration of the Theremino system with a robotic arm. I would like to share my experience with you. Leo |
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Post by wirecut on Apr 17, 2018 17:40:29 GMT -7
Today I have implemented the limit switches and smooth movement. You can see the arm in action here: youtu.be/1fZRle7Be84and this is the code used to move it with Theremino Automation: Label PIckPlace Slot 1 = 370 'Move to pick, Base GoSub WaitAllMotOrs GoSub OpenGripper Wait Seconds 0.1 Slot 3 = 402 'Move to pick, Arm1 GoSub WaitAllMotOrs Wait Seconds 0.1 Slot 5 = 1 'Move arm2 DOWN GoSub WaitAllMotOrs GoSub CloseGripper Slot 5 = 160 'Move arm2 UP GoSub WaitAllMotOrs Wait Seconds 0.1 Slot 1 = 600 'Move to go to place, Base GoSub WaitAllMotOrs Wait Seconds 0.1 Slot 3 = 160 'Move to around place, Arm1 GoSub WaitAllMotOrs Slot 5 = 60 'Move to around place, Arm2 Wait Seconds 0.1 GoSub WaitAllMotOrs GoSub OpenGripper Wait Seconds 0.1 Slot 5 = 180 'Raise Arm2 GoSub WaitAllMotOrs Slot 3 = 400 'Raise Arm1 Slot 3 = 413 'Move Arm1 near home Wait Seconds 0.01 Slot 5 = 220 'Move Arm2 near home GoSub WaitAllMotOrs GoSub Homing_Arm2 GoSub Homing_Arm1 Stop |
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Post by wirecut on Apr 21, 2018 19:49:00 GMT -7
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Post by justinclift on May 13, 2018 4:35:29 GMT -7
Looking at that, the high level programmatic control looks like it would be useful for people.  With the underlying motion controller, is it something similar to (say) adapting TinyG or (the more recent) g2core to drive the Dobot steppers directly? |
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Post by justinclift on May 13, 2018 4:44:44 GMT -7
Ahhh, looking through the Theremino website it looks like a from-the-ground up implementation of all the needed control software in a PC, instead of in a microcontroller. Similar to LinuxCNC, but (mostly) targeted to Windows. No worries. |
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Post by wirecut on May 13, 2018 5:04:56 GMT -7
Looking at that, the high level programmatic control looks like it would be useful for people. With the underlying motion controller, is it something similar to (say) adapting TinyG or (the more recent) g2core to drive the Dobot steppers directly? Yes, conceptually is similar of TinyG, but in reality is totally different. To drive the stepper you ca use the cheapest the A4988 or the DRV8825. For the software you can use the Theremino Automation that is the simplest way to manage the arm and you can download from here: www.theremino.com/en/downloads/automationor you can use the Visual Studio VBNet or C#. All hardware, firmware and software are really Open Source. You can buy the Master for around 10 USD around the WEB.. All the processing power will made into the PC. The Master receive data from the PC trought the 20 Mbit HID USB interface and manage the stepper motor in terms of max speed and stepper. You do not need to be afraid about the acceleration, max speed and deceleration. One MASTER can manage at the same time up to five stepper motor. The Theremino system is for Windows operating system. |
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Post by wirecut on May 13, 2018 5:11:26 GMT -7
Ahhh, looking through the Theremino website it looks like a from-the-ground up implementation of all the needed control software in a PC, instead of in a microcontroller. Similar to LinuxCNC, but (mostly) targeted to Windows. No worries. I used Theremino Master because all the maker, semiprofessional and professional user use a PC with Windows. Will be in future more simple give the coordinate in term of X. Y and Z and move the arm according to the final action needed after a complex computation. Now the movement that you see on YouTube is made giving absolute value in term of steps to the Master. Any suggestion for the inverse kinematic to build the software to move the arm in term of Cartesian coordinate is appreciate. |
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Post by wirecut on Jun 7, 2018 18:34:51 GMT -7
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Post by timinmb on Jun 12, 2018 11:59:13 GMT -7
Following with great interest!
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Post by wirecut on Oct 21, 2018 3:01:03 GMT -7
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