Introduction: Forward Kinematic With Excel, Arduino & Processing
Forward Kinematic is used to find End Effector values (x, y, z) in 3D space.
Step 1: Basic Theory
In principle, forward kinematic uses the theory of trigonometry that is combined (joint). With the length (r) and angle (0) parameters, the End Effector position can be known, namely (x, y) for 2D space and (x, y, z) for 3D.
Step 2: Model
The model is assumed with teta1 (0 degree), teta1 (0 degree), teta2 (0 degree), teta3 (0 degree), teta4 (0 degree). And length a1-a4 = 100mm (can be changed as desired). Angles and lengths can be simulated in Excel (download file).
Step 3: End Effector
From the matrix above the formula is simulated using Excel.
Step 4: Excel Simulation
In Excel1 is the basic theory of reference. For angles and lengths can be modified as needed. Which will later be known End Effector (xyz). For Excel is a system that I made.
Step 5: Arduino Diagram and Sistem
1. Arduino Uno 1 pcs
2. Potentiometer 100k Ohm 5 pcs
3. Cable (needed)
4. PC (Arduino IDE, Excel, Processing)
5. USB Cable
6. Cardbard (needed)
I put Arduino Uno in a used PLC box to avoid static electricity. For wiring diagrams see figure. For the Forward Arm Kinematic raft hardware system in accordance with the system that has been made.
Step 6: Arduino Program Upload
Arduino program files are in the download file.
Step 7: Processing Simulasion
Program on File Downloaded.
Step 8: Final
2. Theory (on file download)
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