Industrial robot arm controlled with Gaming joystick!
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- Опубликовано: 1 мар 2022
- $2 For 2 layers 5 PCBs & Get $24 SMT Coupons Here : jlcpcb.com/cyt
I have made a Robot Arm controller for my IGUS robot arm. It uses TMC5160, Teensy, Raspberry Pi and PS4 joystick! All the good stuff in the single video! Enjoy!
Special thanks to my special Patrons: RobotDigg Shanghai, Shounak Bhattacharya and M. Aali!
Please subscribe. This will help me to develop other projects like this, to bring the bright future closer!
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#DIY #Robotics #RobotArm 
Наука
Please put the like to this video. It is easy for you, and it helps me a lot! Thank you!
Sure. Great as always. I'd like to ask you about something not connected to the channels main topic.
Can you tell more about how educated Russian sees situation in Ukraine right now. We all know there is huge difference and both sides uses word "propaganda".
And if you know you can have some problems commenting more on that, just tell as much as you can without taking risks.
Nice. You have my like. So.. what about do the inverse kinematic for really be a alternative for original control board? Will be awesome.
You just ruined Robolink's business model with 5 arduinos, teebsys and an RPI. lol 🤣
I ordered a teensy and a few 5160s and a ton of fasteners yesterday haha. You're a great computer scientist
Excellent video! I've been working on developing something similar with a much higher payload to compete with much more expensive Kuka and ABB arms that are used in the film industry. You should try speeding up the acceleration and see how fast you can get it to go! If you have a small camera like a GoPro or smartphone, it would make for really interesting camera movement to stick that on the end of the robotic arm!
great!
reverse kinematics would fit very good i think
I am not an expert here, but with a 5 axis arm I imagine it has not enough freedom to move an end effector like this? Where 6 and 7 axis have a lot more freedom to perform linear movements etc.
Wow, this is awesome! Verry clear explained.
Excellent as always!
great video! really like those "full" stack projects with pcb and firmware
That is a great arm!! Looking forward to see you working more with it!! 😊
And nice sunglasses btw... 😎
Nice! This is awesome
Great video. Thanks for all you do.
Thank you for your comment, and for the support!
Love the new beard style and also the amazing content, was waiting a long time till you post again but i am happy
Haha love the socks sandals and shorts.
Jesus sandals and white socks are killing it
nice! trinamic is a great motion control product!! good luck!
Brilliant.
That's great!
It s genial work.
Thank you Sir for your sharing
Really cool! As a fellow Teensy fan I'm even more excited. btw, your English is getting INCREDIBLE!
Nice
Шорты, носки, шлепанцы - культурный код)))
Римляне неплохо совмещали портянки и шлёпанцы.
Nice socks man, XD
nice' ...Props!
I plan to build something similar (one day) to plug the electric car in when it detects the coast is clear. Can probably get away with 3-4 axis depending on how fault tolerant the plug options are: forward/back, up/down, in/out, yaw for a few degrees plug will always be 'level/fixed insertion angle' on the level floor, or the car shouldn't be plugged in. (ie up on jacks changing tires).
Ideally it would work with openCV to search for the port and home in.
This is what you can do if you can make money with your passion. Well done.
An application for the robot arm would be PCB assembly for reflow soldering. If you can pick and place all the components on a PCB with SMD package, this would be verry impressive!
too slow
PNP Machines are already optimized for speed
@@yusniafterwave9903 offcourse a PNP machine is optimized for that task, but doing this with a robot would be a verry cool show off regarding accuracy and repeatability 😉
@@dunichtich100 It would be like watching someone excavate a swimming pool with a spoon.
I would build a Snack-Machine with it for my home theater :-) It needs a fridge for beer and softdrink cans. Also some kind of snacks. If you really want to go crazy, it could also load bluerays in the player. :-) Mountig it on a rail would be nice. So it can reach some meters of a shelf or something.
I love socks in sandal's! ;)
My suggestion for a quick video would be to fix the controller to use inverse kinimatics. Left joystick moves the toolend in x/y 3d space and right joystick moves z plus end effector spin. Perhaps one of the buttons on the joystick can switch between the modes. You could then add functionality to capture points (another button) and move between them.
Great project ! Maybe some thermal pad on the controller ?
Maybe you should try to make a robot for, separate good from dead accus, charge and store them?
Maybe you can do it, even for non-rechargeable batteries, it seems it's possible...
"The Green robot for Green mobility applications"?
Great video sir. Can you make a video with inverse kinematics?
Maybe TTL signal from the encoder?
Great video. Do you have any plans to implement inverse kinematics for the robot arm?
Hi, just asking, can you do a compound move with the tool centre point?
How do you have more encoders on same Teensy? Seems to run out of interrupt service routine handlers and pins.
Great question. The answer is simple: encoders handled by TMC5160. Teensy reads data through the SPI from TMC5160.
How would you program a closed-loop stepper motor?
Does this design basically aim at the higher amps used by nema 23's on this arm. I am trying to figure out the particular route over normal stepper drivers etc without having to figure out everything :D
is the robot singraph is very very old desing old but make in plastic
if u have to control bigger motor what would be necessary
Great Job, but can please explain why you need the Teensy between the Raspberry and the TMC stepper drivers? Can you not leave the Teensy out and communicate with the drivers directly?
Great question! I think, you can control TMC directly from raspberry pi, through the GPIO pins. I used Teensy, because like this I can use simple USB connection. And so, I can use this controller with any computer, not only with raspberry pi.
@@Skyentific Thank you for this well thought out answer. I see where you are going: make the controller board as versatile and universally usable as possible which is a great thing 👍🏼 For your next iteration my suggestion is to use the raspberry directly on the controller board with its GPIO pins, instead puting the Teensy inbetween. The Pi also has USB, so you can still connect the controller board to other external computers or use it as stand alone unit with the Teensy as the controller on board you need an external computer anyways and have to cost of the Teensy itself. With the Pi on board you can circumvent both problems with one fix ;)
What led you to use custom code vs ROS?
Which is the zero configuration of this robotic arm? The one at the start when the robot is packed?
Couldn't you not simply solder the optocouplers on the underside of the PCB? Nice video, thank you!
But can it play the Mario bro theme?
Hi dear, I have a question, can you help me please? I used this shield TMC5160, I start the motor and after a while it stops. It seems that the motor has reached some protection of the driver. To work again I have to reconnect the power to the driver.
I have read all the datasheet, tried all the ways and couldn't find the problem, did you also have this problem? Can you please help me if you know the solution?
Why is it so slow, and can the response be faster with code or does it require a bigger motor and more power?
Here, I was too conservative with the speed. It can be way faster, just need to change the speed in the software.
obviously you have to make it play ping pong =)
Why its slow, is it from the mechanical part or th speed of serial communication ? and how much is the baud rate ?
i'd love to see a robot arm like this make some pancakes.
Gordon Freeman!
Hi. Please tell me, what kind of encoder is used here. Thank you!
Besides recording some actions (which isn't strictly necessary), what's even the point of having a 1k joystick with an expensive industrial robot? If you're operating it via the joystick, the robot can't be doing anything particularly efficient?
The joystick is just illustration. Here you can control it via python or C program, like most industrial robots.
I am building a Upper Limb Exoskeleton for my final year project for bachelor mechanical engineering degree. I would like to get in contact with you for some advise because I'm using these motors and there's not alot of information about it.
What is the arm going to be used for?
I don't know yet. Maybe I will use it to change the build plate on my 3D printers. Like this I can print remotely, day and night :)
you have much robots in your house, so we will send you more robots so you can play with robots while playing with robots
a comment! ;)
Hello. I want to make a 3DOF (or 6DOF if possible) robotic arm that can hold 100kg at the end.
In addition, it should occupy no more than 50x50x50cm.
Do you see it feasible? Would you like to collaborate with me?
Thank you very much.
is it not possible to connect directly to the teensy over bluetooth?
Teensy products do not support Bluetooth natively. You'd need at least a typical tx/rx module and some code, if not upgrade to an expansion board that essentially makes the Teensy a full sized Arduino. There may be a Teensy-esque alternative with Bluetooth, but every example I know of doesn't have the pinout required.
Great question and great answer. And another point: I want to use raspberry pi (or other computer) to be able to add some additional stuff: inverse kinematics, screen, computer vision, etc.
@@xaytana I see. Do you have any idea if it would work with for instance an ESP32 (integrated bluetooth + wifi) board then? Many thanks.
@@SirArghPirate Why would you want to mix the two? ESP32 is a microcontroller itself, though IIRC the Teensy has more connectivity that's utilized here. All you need is your typical add-on/breakout module, the simplest being VCC/RX/TX/Ground, though many have a pinout broader than just that, such as the various HC-05, HC-06, JY-MCU, Sparkfun's BlueSMiRF, AdaFruit's Bluefruit EZ-Link, etc.
But this is only if you're wanting a standalone motor controller controlled via a Bluetooth device. If you want functionality beyond what the Teensy provides, like Skyentific's example of additional processing and a terminal, you'd be using the Teensy as a daughter board. You want peripheral connectivity at the main system board, not at the various daughter boards. The only realistic scenarios of only using a Teensy in this way is for very rudimentary remote control, otherwise virtually every project will have a main board for wider functionality. Also, if you go beyond the capabilities of a single Teensy and require two or more, you'll want a main board anyways.
You come off as new to the hobby. I would suggest doing more basic research before you start planning projects, it'll save you time and money, and it'll save you from quite a few headaches. You should have an understanding of what you're wanting to do with a project, mixing an ESP32 with a Teensy for the sole purpose of adding Bluetooth to the Teensy, when much better alternatives exist for this integration exist, shows a lack of understanding at a general level. Reddit has a quite active general robotics community; which, IIRC, has a fairly decent wiki for newcomers.
@@xaytana 👍🏻
好家伙嘉立创
Such a cool project, thanks for sharing! A question, what kind of encoder is that you are using on the stepper motor?
май инглиш вери бест))энд это пардон) ит из инпосабле)
Замечательно. Использую Dualshock 4 по Bluetooth для большинства проектов на ESP32, где требуется управление.
PS: классные носки
i didn't make it to the supporters list :
This is strange. I've finished this video yesterday. So I have not include people who subscribed yesterday evening and today. What is you name on Patreon?
4.5k is expensive
It is a lot of money, but it is not expensive for the 3kg payload robot arm. I don't know cheaper robot arm, with similar specs.
Русский акцент у вас
охх, Чувак, ты не вовремя
Почему он не вовремя?
Yes, why?
@@Skyentific а ничего, что ваша страна уже два месяца убивает мирных украинцев? Можно было хотя бы вскользь выразить своё отношение к происходящему. Тем паче что в ваших швейцариях за это не бьют и не сажают, в отличие от. В крайнем случае буковку Z бы на лбу нарисовали, чтобы понятно было, кто есть кто.
@@wormball ничего )) до этого вы сами себя убивали с 14 года, так что все норм, мы чуть чуть.
@@ostrov11 Ага, блять, и Мариуполь мы разбомбили, и Харьков, и Киев, и Бучу, и Ирпень, и Бородянку. А вы только смотрите и плачете от жалости.
Мужик я уверен ты говоришь по русски)))
Русский с небольшим английским акцентом)
Да точняк!
desfase
No real industrial robots use cheap stepper motors because they are junk.
Yet to see a single "diy maker" of robotic arms, do something useful..
Stepper motors are cheap junk, poor resolution and horribly inefficient. Use brushless motors or don't bother.
Unsubscribing all russian channels.
Nice