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Hi There,

I've built a bigger version of the mearm and trying to implement the kinematics on it. I think I have most of it working, but struggling to get the sizes right. My part lengths are different than the original so I assume I need to modify these variables:

float L1=80; //Shoulder to elbow length
float L2=80; //Elbow to wrise length
float L3=68; //Length from wrist to hand PLUS base centre to shoulder

I'm slightly confused as to how exactly I need to measure the lengths, ie. where does this measure ment apply on the original mearm?

Are there pics available which shows these lengths on the regular mearm so that I can measure mine and adjust this?

Thanks,
T

Hello Team,
In my mearm (bigger) set up I could not make a vertical straight line movement.
I also see a forward movement even though there is no change in Y axis.
Default co-ordinate in library: (0,120,120)
Starting point: (0,120,120)
Endpoint : (0,120,50)

What was your experience with vertical movement?
Please see the video.
https://youtu.be/ke-cWWhMrG4

Hello and thank you for a great solution at first!

So. If we take a look at the contructor of meArm class, we can't understand what values possible for angles' limits. For example, I faced with an issue when using default constructors' min and max values for angles, especially for the elbow servo. If I use pi/4 for the angleMinShoulder, meArm wouldn't move as expected, vertical movement is not vertical :)

In an explanatory article http://bitofahack.com/post/1433701488 angleMinShoulder set to 0, I used it and it helped. So can we have may be another .md file where all of this will be explained?

P.S.: I use Me Arm version 0.4.

Hello, under what license is this project released under ? Thank-you.

Hiya, trying to replicate your work and control a MeArm robot arm with Arduino UNO. The #include "meArm.h" library doesn't seem to work for me, despite importing it into the project folder. Can you talk me through how you got this to work please?

Currently, output from the IK is in radians (as a float). This is converted into degrees (as an integer), and later into microseconds (also as an integer). The second conversion is done within the servo library itself, which also exposes a writeMicroseconds method.

Some rounding error could be eliminated by directly converting from radians into microseconds, and omitting the second conversion (and the intermediate, granular, degree measurement).