We are controlling our motors using Arduino UNO since it is kind of easy to link Arduino and Matlab. This way using our interface, which was made using Matlab, the motors will be able to move from the interface through Arduino. We have videos showing the first rotational joint moving, as well as the prismatic …
Author Archives: kevingf98
Update on Motors
Back when we started proposing our motors, we determined we needed 2 servomotors for our rotational joints. For the prismatic joint we would use a stepper motor. In the following pictures we show our final chosen motors. Our stepper motor is a Nema 17 with a worm drive which holds a threaded rod that helps …
Singularities
During this last term we found the singularities of our robot. We have an RPR robot which we already had the Jacobian matrix. So now, we focused on solving the singularities to know where our robot will not be able to generate any velocity; this was faster with Matlab. We know that singularities occur whenever …
UASLP Robotics 101 