sorry there is quite sometimes i no continue this topic. i still keen to make new robot arm with new design. currently im writing python web app for ar3 first and once it stable we can use for ar4. if you guys have initiative you guys may help do some homework and we combine here?

just check device manager get your com port number, or use arduino ide check your com port no, and set in the program

yes, i tried it look the same.

i feel your problem from signal cable between teensy-j3 stepper motor driver. please check there. please check is it connect to correct pin, and connection established as expected. cause u can move 1 direction sucessfully but not the others.

i'd make solved the linear kinematics calculation and seems match with provided excel format. For circular movement may not so important at the moment. I will create 1 repository afterward since chris may not feel interested to create it.

AR3 is using below mechanism to get position: 1. move each joint until limit switch 'on' 2. then it override hardcoded position value into encoder (the max value is indicated in AR3 program) 3. then it use some maths calculation to calculate the degrees So, there is no zero, it have max position instead. The calculation of degree 100% rely on when the limit switch turn 'on'. Now matter you change to what kind of limit switch you just need to remember this.

so far if you purchase wire with correct quality i think it wont have issue. the intereference may effect little at limit switch or servo motor(if u use) but not that much. to trouble shoot arm position is it work properly, u may try emergency stop AR3, then manually move the joint and see the encoder reading reflect as expected?

this is creative! look so nice. But I believe it take lot of effort? Beside, you may have some challenges on durability of robot arm base?

I can’t recall which file name, u just sort file according modified date time will know the latest changes isn’t it?

you delete your whole folder and download again. i think the parameter you set cause calculation wrong. Every time it happen just re-extract the content (or, remove the setting files)

I don’t think you have any problem if you know what are you doing. as long as you can make 2 piece of plastic stick together it should be fine. If you facing problem then you just reprint your part and tap it

are u run windows with macbook? seems like retina display double up resolution

i solved inverse kinematic calculation with minimal code by using python robotic toolbox https://github.com/petercorke/robotics-toolbox-python/issues/199

Can shoot video or photo put here?

I think hardly have problem at J1, sure you make mistake. try watch videos from here. There is 40 videos there regarding AR3. J1 issue in first few video. The walk through very detail and clear. https://youtu.be/Sjv8fxr5LJc

Hi Chris, I suggest we create a new AR4 repository first and put some wish list and draft inside. It is better put under your github, if you feel interested can you create and invite us as member? If no next week I create new one and invite u guys.

Sert, you may tweak abit at Teensy-to-stepper driver there if you sure the enclosure-to-robot arm J1-J6 cable is correct.

default ARCS application controlled movement to prevent it break limit switch. however it is control in software, if we not use ARCS (like I developed another web service control panel, ROS/Moveit) then you will need to do own control. That is danger thats why prefered way is make the control in teensy so no matter which software we use it wont over limit

cool, i feel we team up can create big thing

You no provide dedicated power source by right you can’t operate 2 servo motor effectively. from you image I feel the 2 servo drain too much power. You try to use external power source to operate servo motor