What i'm hoping for here is more of a discussion on feasibility & level of programming difficulty rather than specific instructions or hardware suggestions & i understand answers may be subjective.
Lets say you want to make a 4DoF robot arm using Servo motors (industrial DC motors with quadrature encoders, not the hobby type servo motor) & have precise position control, path following, acceleration curves & synchronized motion from a functioning inverse kinematics model; how difficult would this be?
assuming that the motors encoders are a low enough resolution that the Arduino can keep up with the number of interrupts.
From what i understand this requires use of:
- pin change interrupts
- well tuned PID control
- some fairly involved mathematics
- a way of sending commands as coordinate positions/writing movement profiles
How would you categorize this sort of project in terms of beginner/intermediate/expert/advanced etc.?
What is your opinion on the general feasibility of it?