A 4-DoF SCARA robot arm on a vertical rail, equipped with Integrated Closed-Loop (ICL) stepper motors and a 400-watt industrial servo motor, all controlled via CAN bus communication.
The software currently runs on ROS1-Noetic, utilizing a URDF model and MoveIt, with an option to use a custom Tkinter GUI.
Movelt actually difficult to manage our arm robot, because our robot mechanically different from general arm robot system. each link is connected individually to its motor which is located on the main base instead of the normal, on its parent link. Each link will point to the same global direction regardless of the other link's movement.
That's why We are also developing our own motion designer software called Dancemotion Designer, which is also an ongoing project.
We plan to make the real arm move exact as to the simulation with the same organic smoothness (because our arm is very sturdy and backlash free)
Each actuator features a built-in smart MCU, allowing users to configure parameters such as starting speed, acceleration and deceleration times, maximum speed, and total pulse count. These settings enable smooth S-curve acceleration and deceleration.
Commands are sent through the CAN bus using the CANopen protocol.
Used RasPi-4 Pins:
| Fungsi | GPIO (BCM) | Physical Pin (40-pin header) |
|---|---|---|
| SPI MOSI | GPIO 10 | Pin 19 |
| SPI MISO | GPIO 9 | Pin 21 |
| SPI CLK (SCK) | GPIO 11 | Pin 23 |
| CAN0 CS (CE0) | GPIO 8 | Pin 24 |
| CAN1 CS (CE1) | GPIO 7 | Pin 26 |
| CAN0 Interrupt | GPIO 23 | Pin 16 |
| CAN1 Interrupt | GPIO 25 | Pin 22 |
| Relay | GPIO 2 | Pin 3 |
There are several type of motion:
- Linear motion
- P to P fastest motion
- Circular motion
- Horizontal curved Motion
- Vertical curved motion
- Interpolated motion
Profile types:
- triangle profile
- trapezoidal profile
- sine profile
- s-shape profile
Even though it's still an ongoing project, let See it in action
Ask me anything : teukuzikrifatahillah@gmail.com