RobotArm project...briefly history...
The robotarm project has been started many years ago. Went on building to finish it, recently. The arm has 6 degrees of freedom and an endeffector. The different joint are moved by steppermotors and the gripper by a DC-motor. Gearcombinations are used to get a nice and smooth transmission from motors to joints.
The Interface between robot-arm and pc is done by an ISA-slot with a bunch of 82c55a IO-peripherals on it. May sound a bit "old-skool" but they are easy, proven and easy to programm! Future projects will be done with more sophisticated “techniques” like a Raspberry PI module used as an I/O-module controlled by USB. My ISA-pcb is complete DIY, build from “zero”.
The electronics are partly DIY and partly read-modules. In the beginning it was all DIY: built by using electronic components like ic’s and discrete components. Nowadays, complete modules are very affordable.
The software is written in Turbo Pascal 7.0. but for this purpose it’s very nice, most of the programm concist of mathematics! As userinterface there’s the pc-keyboard and my DIY: QuadStick. 4 gamecontrollers in 1, connected to the ISA-pcb!Allready got a nice piece of software made in Delphi. As the robotarm is a mechnical structure, the software is allmost complete filled with mathematic parts. One part is called kinematics.
A robot is mostly controlled by software but you can do it manualy by using a keyboard or an other so called human-machine-interface, HMI.
So, after long time, the project is going to finish...that's means the mechanical and electronic part. I have to continue creating the software.
Take a quick tour on youtube! Much more video's to come!
UPDATE NOVEMBER 2016
Recently, I started to work with microcontrollers, in this case the 2560 Arduino Boards.
For programming these, I use mikroPascal. On the pc, I'm using allready Lazarus.
Wanna getn rid off using the pc's ISA-slot for contact to the world outside the computer.
With the microcontroller, easely an RS232 connection ( bi-directional ) can be established.
UPDATE NOVEMBER 2016