RoboyMagicArm

Inspiration

Roboy shall be able to draw and write...

What it does

Program, which has a ROS node for the relevant motor messages and controls the motors via keyboard input. It starts in displacement control mode for getting always to the same initial position and then switches to position control. Also you can export a set of positions to a csv file.

How I built it

C++ and inspiration by the motor rqt plugins.

Challenges I ran into

The mechanics are quite hard to handle, since the ropes can get stuck.

Accomplishments that I'm proud of

Just moving the arm the first time.

What I learned

Biomimetic robots are hard to control.

What's next for RoboyMagicArm

Next step would be to train some positions and write a program to load those and go through them with interpolation between them.

Built With

• c++
• cmake