Homemade Robotic Arm

Projects General Guidance
1

Please help,

I've designed and 3D printed the frame for my robotic arm. It contains 6 servos:

  • Base Rotation
  • Shoulder Rotation
  • Elbow Rotation
  • Elbow Rotation
  • Wrist Rotation
  • Grasper

*Each servo has a 180 degree rotation.

I really need help writing code for my robot. I am using the Adafruit 16 channel servo controller. The servos are connected to ports 1, 3, 5, 7, 9, and 11 respectively on the sheild. I have tried using the pre-made code for the servo shield, but I have no idea how to modify it to follow my own series of movements for the robot. I need to be able to control rotation, speed, and timing of each servo. Even just a template I can copy and paste for each movement will be amazing! If you need more information just ask.

ANYTHING will help! I have a very basic knowledge of coding and servos...

Thanks,
Matthew

2

I suggest you start by focusing on a single servo - perhaps the base rotation and figure out how to do what you need with that.

The Arduino IDE has examples of servo code.

...R

3

The only way to control the speed of a servo is to break the movement into a lot of little movements and command each one separately at the rate desired. For example if you wanted to move at 30 degrees per second you would break the movement down into 1 degree segments and change the position thirty times per second.