The Forward Kinematics for the left leg of the Quadbot have been formalised, using modified Denavit-Hartenberg parameters and axes conventions.
I also made a simple Python applet to verify the maths and visualise the leg’s poses. I used Tkinter and three Canvas widgets to show orthogonal views.
The reason I am testing the maths in a quick Python program is that I want to be able to port them easily over to Arduino, as my latest aim is to drop the Raspberry Pi and A-Star 32U4 LV Pi expansion module (shown in some of the latest CAD models) in favour of trying out an ArbotiX controller. A benefit with the latter is that I wouldn’t need a Dynamixel-to-USB converter (e.g. USB2AX) or separate motor power supply.
Next up will be to work out the Inverse Kinematics.
|2||pi/2||29.05||0||th_2 – 34|
|3||0||76.919||0||th_3 + 67.5|