6DoF OpenArm Robot Interface + Robot Open-Loop Control Demo

3D printed arm is designed and built from scratch. Interface is made with python using the TKinter library with an embedded matplotlib 3D plot. Project goal was primarily to self-learn forward and inverse kinematics on a 6DoF robot arm and derive IK from scratch using Denavit-Hartenberg conventions. Unfortunately, current inverse kinematics solver produces solutions only when all 8 poses are attainable, greatly limiting the configuration space. Not all of the 8 solutions are possible on the real robot either, since the robot control is open-loop and I don't have any collision simulation or detection implemented.

Robot uses NEMA 17 stepper motors for every joint besides the 2nd, where a NEMA 23 and a larger controller is necessary for greater torque. Robot control is completely open-loop. There also exists undesirably flex & play and oscillations since the robot is completely 3d printed from PETG besides motors and M3 nut + bolts hardware.

Five NEMA 17s are controlled with A4988 drivers on a modified RAMPS 1.4 Shield for an Arduino Mega. One NEMA 23 is controlled with a TB6600HG driver. Serial data is sent over USB to prepare motor movement and execution commands.

The basis for my custom Arduino sketch comes from iforce2d's Coordinated Stepper Movement Arduino Sketch shown here