Hi everyone,

I'm currently working on a school project that requires me to program a controller using the AR4 from Annin Robotics as a reference to control a mini robot arm. Using a Teensy 4.1 as the microcontroller, I was able to jog the arm and run programs using joint angles.

My issue right now is that I am unable to jog the arm and run programs in cartesian. Whenever I prompt it to move in a certain axis, it goes anywhere but that axis. I'm not sure if my DH parameters are wrong or its something else. Note that I am using the version 4.4 of the control software and Teensy sketch files of the AR4-MK3, and there are no limit switches and encoders on the robot arm.

Attached below are my set of DH parameters and a video of the arm's movements when I try to jog it in cartesian. I would really appreciate it if someone could help me verify my DH parameters and drop me some tips on how to correct the cartesian jogging issue.