CAN I GET THE .STEP FILES FOR THIS NEW COVER SYSTEM?

Alright, Looks like I found how to do it.

In the solveForwardKinematic() function, I added the equations before solving the forward kinematics.

void SolveFowardKinematic() {

  robot_set_AR3();

  float target_xyzuvw[6];
  float joints[ROBOT_nDOFs];
  float joints3;
  float joints4;
  float joints5;

  for (int i = 0; i < ROBOT_nDOFs; i++) {
    joints[i] = JangleIn[i];
  }
  
  //Conversion differential wrist
  joints3 = joints[3];
  joints4 = joints[4];
  joints5 = joints[5];
  
  joints[4] = (20/16) * (joints4 - joints3);
  joints[5] = (20/16) * (joints5 - joints3) - (20/16) * (joints4 - joints3);


  forward_kinematics_robot_xyzuvw(joints, target_xyzuvw);

  xyzuvw_Out[0] = target_xyzuvw[0];
  xyzuvw_Out[1] = target_xyzuvw[1];
  xyzuvw_Out[2] = target_xyzuvw[2];
  xyzuvw_Out[3] = target_xyzuvw[3] / M_PI * 180;
  xyzuvw_Out[4] = target_xyzuvw[4] / M_PI * 180;
  xyzuvw_Out[5] = target_xyzuvw[5] / M_PI * 180;


}

Also, I added the inverse equations in the solveInverseKinematics function, after solving the inverse kinematics.

void SolveInverseKinematic() {

  float joints[ROBOT_nDOFs];
  float target[6];
  float JangleOut3;
  float JangleOut4;
  float JangleOut5;

  float solbuffer[ROBOT_nDOFs] = {0};
  int NumberOfSol = 0;
  int solVal = 0;

  KinematicError = 0;

  JointEstimate();
  target[0] = xyzuvw_In[0];
  target[1] = xyzuvw_In[1];
  target[2] = xyzuvw_In[2];
  target[3] = xyzuvw_In[3] * M_PI / 180;
  target[4] = xyzuvw_In[4] * M_PI / 180;
  target[5] = xyzuvw_In[5] * M_PI / 180;

 // Serial.println("X : " + String(target[0]) + " Y : " + String(target[1]) + " Z : " + String(target[2]) + " rx : " + String(xyzuvw_In[3]) + " ry : " + String(xyzuvw_In[4]) + " rz : " + String(xyzuvw_In[5]));


  for (int i = -3; i <= 3; i++) {
    joints_estimate[4] = i * 30;
    int success = inverse_kinematics_robot_xyzuvw<float>(target, joints, joints_estimate);
    if (success) {
      if (solbuffer[4] != joints[4]) {
        if (robot_joints_valid(joints)) {
          for (int j = 0; j < ROBOT_nDOFs; j++) {
            solbuffer[j] = joints[j];
            SolutionMatrix[j][NumberOfSol] = solbuffer[j];
          }
          if (NumberOfSol <= 6) {
            NumberOfSol++;
          }
        }
      }
    } else {
      KinematicError = 1;
    }
  }

  joints_estimate[4] = JangleIn[4];


  solVal = 0;
  for (int i = 0; i < ROBOT_nDOFs; i++) {
    if ((abs(joints_estimate[i] - SolutionMatrix[i][0]) > 20) and NumberOfSol > 1) {
      solVal = 1;
    } else if ((abs(joints_estimate[i] - SolutionMatrix[i][1]) > 20) and NumberOfSol > 1) {
      solVal = 0;
    }


   // Serial.println(String(i) + "  Joint estimate : " + String(joints_estimate[i]) + " // Joint sol 1 : " + String(SolutionMatrix[i][0]) + " // Joint sol 2 : " + String(SolutionMatrix[i][1]));
  }

  if (NumberOfSol==0) {
    KinematicError = 1;
  }


 // Serial.println("Sol : " + String(solVal) + " Nb sol : " + String(NumberOfSol));

  for (int i = 0; i < ROBOT_nDOFs; i++) {
    JangleOut[i] = SolutionMatrix[i][solVal];
  }

  //Conversion differential wrist
  JangleOut3 = JangleOut[3];
  JangleOut4 = JangleOut[4];
  JangleOut5 = JangleOut[5];
  
  JangleOut[4] = JangleOut4 * 16/20 + JangleOut3;
  JangleOut[5] = (JangleOut5 + 20/16 * JangleOut3  + JangleOut4) * 16/20;

}

I haven't tested the code, as the robot isn't built yet. I will give updates once I make it work.

See ya !

Thank you for your answer Chris, I found how to disable the encoders in the software.

I understood how to modify the DH parameters to change the dimensions of the robot.

I also have made progress in implementing the wrist kinematics equations in the program. I modified the AR2 kinematics spreadsheet to find the wrist angles of the motors after reduction.

Here's the spreadsheet : https://docs.google.com/spreadsheets/d/1iReknbEAj4RcIj4BmtkDDe6l3gSqDisI/edit?usp=sharing&ouid=103973936673798901416&rtpof=true&sd=true

Now I just need to modify the teensy 4.1 program in the same way. I have found where the forward and inverse kinematics are programmed in the code.

If anyone has a tip on how to do this, again, any help is greatly appreciated.

Hello, Im happy to see people modify the program and share it with everyone, I only ask people not resell for profit. You dont need to use encoders. the software has an option for open loop mode on the settings tab.