Hello, I have created a robot arm that can rotate and move forward, and I want this arm to make a curve movement, just like the animation in the video. All of the projects I came across in my research were designed as cnc systems that move linearly in the x and y axes. The grbl library and various slicer or plotter programs can be used for these systems. but they don't solve my problem or I couldn't.
My system works with nema 17 stepper motors and I tried to find out how many steps each motor needs to follow this curve, but it wasn't quite right and the motors are running very vibrating. What libraries should I use when controlling engines so that the movement is smooth? how should i go about it? What software can I use to follow the curved path you see in the video? How can I extract action points? Thanks in advance for your help.
Yes it's about trigonometry but not everything. Maybe I didn't explain well enough. In order to move the motors on this curve, I divided the curve into 0.28 degree angles and gave the appropriate commands to the motors and made them follow the line. But the motors are not smooth as in 3d printers, they vibrate a lot and work noisy. This is probably due to the way I send signals to the engines, but I couldn't handle it. For example, while the rotation motor goes 1 step, the linear motor needs to go 80 steps. in some cases only the rotation motor is running. Without using a library, I move the motors by sending a signal to the step pin myself without using a library. each motor works fine when it rotates alone, but when they run together they vibrate. I am experiencing this, probably because there is a change in the operating frequencies when the signal of the other motor intervenes, but I do not know how to overcome it. I did a lot of research, but I may not have asked the right questions.
