Forum Posts

Kstan Simit
Mar 17, 2021
In Questions
Hi, I'd developed web services of AR3 which allow us move J1-J6, Tracks and servo (repository at github). I wish to further enhance it to support linear movement however it require to kinematic calculation. ARCS have build in forward and inverse kinematic calculation, but it is so hard to port over and very confusing. I tried to find 3rd party library like robotics-toolbox-python unfortunate I don't know how to implement it due to lack of explanation (or i'm noob in mechanical knowledge). Below is the web UI I doing now
Rewrite web service need help on python forward/inverse kinematic lib content media
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Kstan Simit
Mar 12, 2021
In General Discussion
Thanks Chris's great AR3 project, most of us have working and look fancy robot arm. However, I notice there is a lot of room to improve. Since AR2/3 builder a lot, I'm suggest building AR4 which can remain low cost but have more simplified/direct/tough design, and more 'industry grade'. Base on observation in this forum, I propose some of the enhancement (include my wish list): Use non-contact limit switch to avoid robot arm fall and damage the limit switch remove too much wiring, use CAN bus (or etc) to reduce wire into minimal (come with encoder) more flexible robot training method (like hand hold) Better emergency stop (currently emergency stop will stop power supply and collapse arm position, that look danger and will hurt the arm) natively support ROS/MOVEIT tough design, can support >=2kg (in my opinion if possible change the j5 belt to others mechanism) more fancy and user friendly software design, now program the arm really less user friendly more up to date computer vision function Look/Feel compatible to all Mac/Win/Linux More error feed back/sound feed back Easier to integrate more sensor/buttons/switches I'm not good in design hardware and 3D drawing, but I can help a lot in programming.
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Kstan Simit
Feb 09, 2021
In General Discussion
Hi, I know this is not standard support in AR3, however I really feel bad cause in some situation AR3 will move beyond limit switch due to some calibration mistake. Beside, I'm writing another web services which may make mistake and break limit switch too. IMHO, I think I shall change AR3 firmware (Mean Teensy) to prevent any possibility of movement beyond limit switch. I tried changed Teensy function 'MJ' to return back slightly when hit limit switch. At initial stage everything look fine. When I start jog robot with longer distance, the robot randomly stop, it look like AR3 hit the limit switch during jogging, however I notice the limit switch still far away. Below is the image I use serial monitor to connect Teensy. the command i send was copy from arcs program (MJB11166S25G15H10I20K5U8875V3277W0X7600Y2368Z3300). The extra return string "msg hit: 000 001" wrote by me, it tell me currently machine hit limit switch 6. I notice limit switch is far away, so send again the command, next round it feed back touch limit switch 2. I continue send again, it no complain, mean no hit at limit switch. I continue above process and I notice it like random error. Below is the code i modified to read the limit switch value, i changed the code ~line 1516: isJ1HitLimit = digitalRead(J1calPin); isJ2HitLimit = digitalRead(J2calPin); isJ3HitLimit = digitalRead(J3calPin); isJ4HitLimit = digitalRead(J4calPin); isJ5HitLimit = digitalRead(J5calPin); isJ6HitLimit = digitalRead(J6calPin); Any expert have ideal? I think I did correct job but I don't understand why limit switch just randomly return HIGH when I jog robot, during calibration this issue never happen. After fix this I believe i can share this 'firmware' from my git repository. Any of you have ideal?
Modify Teensy To Avoid Movement Break Limit Switch content media
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Kstan Simit
Feb 03, 2021
In Questions
I thinking to add limit switch in travel track, below is some ideal and obstacle: 1. change GX16-4 to GX16-7 in both electronic enclosure end 2. install limit switch at travel track 3. Modify python program 4. Modify teensy program to allow add command send motor to limit switch step 1.), 2.) I can do easily, 3.) i will make modification at webservice project instead of ARCS,py. Biggest challenge for me is 4.) whic is something I not confident to do, worry it break many thing and cause unrecoverable damage. So far any of you good in the existing Teensy and able to help up?
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Kstan Simit
Jan 31, 2021
In General Discussion
Hi members, I'd added a repository wish to create a web service in python to allow developer talk with AR3 using their own prefered languages and front end. I'm still in designing stage and whoever feel interested to participate (either commend or coding) is welcome. https://github.com/SIMITGROUP/ar3_robotarm_webservice Chris, Current it is under my repository, if you like I can put under your repository cause I just need to store some place, your place or my place doesn't matter. I just worry you have some branding concern. There is sample prototype show in below video: Thanks, KS
New Web Service Inviting Member content media
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Kstan Simit
Jan 27, 2021
In General Discussion
I'm tried train AR3 by my hand without change code and structure, supprisingly it is working. It is not very user friendly, by modify source code I think can make it reasonable user friendly. How I train 3 step program as above video: 1. Put arm at rest position 2. record new position 3. press emergency stop 4. move arm J1/J2/J3/J4/J5/J6 by hand 5. remain emergency stop button, go to AR3 software, click jog J1 (to force application reload position from encoder) 6. teach new position in ar3 software. 7. move arm J1/J2/J3/J4/J5/J6 by hand 8. click jog J1 again 8. record new position 9. add 1 row jump back to tap1. 10. release emergency button 11. done and you can run your program During setup you will receive warning say some join no calibrated or what, I simply ignore it cause it will be fine.
Teach AR3 by hand, and it is possible content media
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Kstan Simit
Jan 25, 2021
In Questions
Hi, Im trying setup travel railes using nema 17 with 1000mm long ball screw shaft. I'm tested jog the track and it move. However it move very-very short distance. I'm check through user manual and forum and there is no any reference can explain how it work. Chris, you have any commend or instruction for make travel track move as expected?
Travel Rails move very short distance content media
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Kstan Simit
Jan 20, 2021
In General Discussion
Dear Chris, I notice that in your repository most of the code is old and there is no AR3 repository in your github. I'm wish to help fix some layout issue in ARCS.py so that mac/linux os can look nicer. Would you want to create a new repository, or update your existing https://github.com/Chris-Annin/Annin-Robot-Project, so, i can fork from it and send you pull request? Or, if you allow I will create another repository, maintain in github too, and after complete send you link and you merge to your code by yourself.
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Kstan Simit
Jan 14, 2021
In Questions
Today I just manage to run the robot arm, after I calibrate @ Rest position, I tried jogging but notice weird scenario. 1. I jog J1 for +/-10 degree, the J1 move none stop to left/right (depends on i press + or -), I need emergency stop it 2. I jog J2 -10 degree, it moved as expected, I jog +10 degree it no moving. Same with J3 3. There is others issue but I think come from same root cause. Then I notice at Main Control J1-J6 all the degree keep increment eventhough the robot is not moving and I no perform any action. I think this is the main reason cause the error. Anybody have this experience and have clues for me? Thanks in advance, Edit: I'm added video to further explain: I press emergency stop button calibrate rest position the angle all remain the same (as expected) released the emergency button (J1-J6 angle value start changing, but arm no movement) press emergency stop button (it stop changing) release emergency button (J1-J6 angle value changed, arm still no move)
Weird continual increasing degree content media
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Kstan Simit
Jan 11, 2021
In Questions
Hi Chris, User manual, it show the image as below, the jumping wire (female head) shall connect to driver. I tried it can fit into hole, i can screw it but i not sure it can connect as it is, cause there is no pin inside, i feel it not connect the metal if I not do something
Connect female jumper wire to driver without pin? content media
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Kstan Simit
Dec 26, 2020
In Robot Builds
I'm ongoing building AR3 now, structure of AR3 so far so good. There is many challenges I'm facing start from purchase suitable electronic component, tools, assembly, printing and etc. Special thanks to: 1. Chris Annin (Anninrobotic) 2. Chris Boden https://www.youtube.com/watch?v=ODck6J3JJng&t=919s I notice that Chris Boden temporary to discontinue the video guide, so I'd shoot some video during in my assembly process, hope I have time to compile and share it out, so new comer can have overall big picture how the journey look like. The arm roughly install complete and I'm ongoing assemble electronic enclosure.
AR3 from Malaysia content media
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Kstan Simit
Dec 11, 2020
In General Discussion
Hi, I wish to print J2 Arm Cover Spacer (upper and lower), i notice there is tube beside reserved for for wiring. It seems big enough and need additional support. I tried add support (Using Cura), seems use lot of filament and big support created. I foreseen after complete the printing the support will stuck inside and hard to remove from hole. Can I know what configuration you use to print the support the tube (or no print support)? Support seems block the hole Original 3D model seems allow wire pass through
What kind of Support for J2 Arm Cover Spacer's Tube content media
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Kstan Simit
Dec 06, 2020
In General Discussion
I'm in progress printing 3D part of AR3 and read through the user guide. I notice 1 section mentioned Please note this assembly manual does not show wiring of the enable circuit. The enable circuit will likely not be used by most and is used to disable the motor drivers. The enable circuit disables each of the motor drives when 5vdc is applied to the enable terminals on the driver. I thinking is it possible during assembly process i prepare enable/disable switch for all joint, so we can hand hold 'train' and record robot arm movement?
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Kstan Simit
Nov 21, 2020
In Questions
Hi, I’m a Software developer and I wish to design some application work with AR3 and make money by bundle AR3 with the application. As far as I know AR3 design is open source but restricted. so my question is until what extend as a software developer can sell our software together with AR3. is it possible my client buy AR3 from here then software from myself? thanks,
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Kstan Simit
Nov 17, 2020
In Questions
Hi, Thanks of this open source project, I have question regarding what kind of printer size needed for Full 3D Printed AR3 (no purchase aluminium part) AR3 combo set (most of the structure using aluminium part) I may have some friend feel interested on build own robot too, it is better specific the size in manual too to avoid people purchase wrong printer.
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Kstan Simit
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