6DoF mostly 3D Printed Robot Arm (Part 6) Arduino code!

[@Skyentific]

Please leave your comments! These comments will help me to promote this channel and to continue to build projects like this one. I will try to reply to all comments.

[@ankur261995]

It would be great if you can also show how you derived Inverse Kinematics of the Robot....

[@Skyentific]

It is quite complicated and boring trigonometry. I am just afraid that not many people is interested in this. Maybe I can just make a post on the facebook page.

[@ankur261995]

Hi thanks for your reply, It would be extremely helpful if can do so..

[@matejparovel9792]

You said that this code is open source. Can you leave a link as to where i can get it

[@shuha3216]

@@Skyentific please explain yourself inverse kinematic calculation . I think here more of us watching theory and practice of robotic . And your projects give us very good knowledge . If you find time please make calculation of inverse kinematics. Thanks in advance

[@jamesdavis2027]

Very professional and well thought out! I enjoy the youtube maker scene but I wish more people applied sturdy engineering principles like you do!

[@Skyentific]

Thank you for your inspiring comment!

[@jamescarlton4068]

I'm currently designing my robot too, i want to make video tutorial to help the community and share my knowledge

[@plymouthrovadventures.646]

Having followed you through this series you have given me the Push to get into Robotic arms. Being a retired engineer I will redesign the body but maintain ALL the dimensions that form the kinetics. How hard can it be........ Thank you so much for all your effort to present this project.

[@productionmastrr]

This video series is really nice! I'm studying mechanical engineering and recently bought a 3d printer. You've inspired me to make a robot arm during spring break. Thanks for the content!

[@Skyentific]

I glad to hear this. Mechanical engineering is the most cool topic! Thank you for you comment!

I am commenting here to help you promote. It is beautiful to see such brilliant knowledge being shared. Soon I will be helping Patreon too! Congratulations from Brazil!

[@Skyentific]

Thank you a lot!

[@donstratton1401]

I have enjoyed this whole series on the 6DoF arm! Unlike many "makers" you seem to have a very good understanding of the fundamental principles and are able to explain things in a good level of detail. I would love to know how well it holds precision and accuracy after making a LOT of movements, to get a sense of what the cumulative error might be. Any robot hand can make a precise move ONCE, but after 10,000 moves the errors will stack up. On a related note I would love to see a version of this arm that achieves some form of closed-loop control via either position encoders or even more ideally using machine vision. At that point it would EASILY rival very costly commercial arms.

[@Skyentific]

I would love to add machine vision. I am just afraid this is going to be complicated. But even already bought a depth camera for this. I will defiantly try to do this in the future! Thank you for you motivating comment!

[@pd.dataframe2833]

Don Stratton
... what do you mean by a closed loop using machine vision... how can it give the position feedback of the arms.. or does it accurately calculate the angles from the pictures... please I need an answer

[@adisharr]

Just about the minimum usable industrial 6-axis robot is approximately 20 inch reach and 3 Kg payload. What he's doing here is great work indeed but it's very difficult to replace a precision harmonic drive gearhead and closed-loop servos with absolute encoders. No hobby class robot is going to rival an industrial robot.
I am not in any way discounting the work that this man has done as he is obviously very knowledgeable and talented.

[@alergu9478]

Very nicely built! The arms’ design seems simple and structurally stable! Good work!

[@Skyentific]

Thank you very much for your support and comment!

This is Incredible, i love it, i send a strong Brazil's hug

[@pascalladalemdr]

youtube need more guys like you :D

[@joan-jm5rr]

Amazing job on all stages of the project. Thanks for making it open.
I built it for the VET school I work at, and guess it will be pretty useful for automation lessons.

[@alfiolocatelli5093]

Nice video, very very intersting. I'm studying automation at university and this is very usefull to understand a pratice way of Matrix, not only in the theory.

[@Baoz1230]

Thanks a lot for the clear information and education!

[@beachcomber2008]

BEAUTIFUL beyond words. Now produce A HAND. That sounds like a bit of a challenge, I know, but you're the guy who can do it, I'm sure.

[@rodstartube]

Very good as always!! I love your work. I'll take your code and modify it for realtime control. Mode 1: will be for joystick, Mode 2: will be for CNC like sequences. Probably will be my first video, or one of the firsts.

[@Skyentific]

This would be cool! I would love to see a CNC like sequence! Please, keep me updated about your advancement. Thank you for your comment!

[@asdlab]

As always incredible masterclass about robot arm

[@Skyentific]

Thank you very much!

[@cristiantalos4042]

Your project is amazing! Keep up the great work!!

[@Skyentific]

Cristian Talos , thank you for inspiring comment!

[@PiefacePete46]

Really excellent thanks... I will be watching this video many more times in the future!

[@Skyentific]

Thank you very much! This kind of comments motivates me a lot. Thank you!

[@HironXuma]

Ты клевый дядька, Thank you very much for your time and ideas=) Wish u the best.

[@Skyentific]

Thank you very much for your comment!

[@viktarsamuel8822]

Пострить робота проще чем найти, куда его применить.

[@ProtoG42]

Great job! I really appreciate the amount of work you put into this video!

[@Skyentific]

Thank you very much! I really appreciate the comments like this!

[@efikamara]

I love your project!
Thank you for sharing your work.

[@Skyentific]

Thank you for your kind comment!

[@jasoncreech4486]

Great job. I hope to build one. Thank you for sharing your work with us.

[@dynamica1]

Геннадий, крутой проект. Соберу себе тоже такого робота, по цене и трудозатратам вполне доступный. Спасибо за такой проект.

[@s042203]

Super video series. I would love if you could try using ROS control to control the robot. I myself do not have much understanding of ROS, but would like to learn it while building your robot in the future. One more thing, maybe you could use TMC2130 or similar device to sense endstops and at the same time utilize detect missed steps? Just an idea

[@Skyentific]

Thank you for your comment! I have two robots and two electronics. One of this electronics (yellow box) uses TMC2130 for the axis 6, axis 5, and axis 4. For other axis it uses TMCM1110, because TMC2130 is not powerful enough for axis 3,2 and 1. I just need to implement this 'endstop sense' in Arduino program.
I would like to implement the robot in the ROS system, but I don't know yet how to do this. So this is for the future.

[@vandersonaraujodesouza]

Man, this is very cool!! Thanks for show how make arm robot...

[@Skyentific]

Your are welcome! Thank you for your comment!

[@ahmedismaiel8580]

love your videos, amazing work. much appreciated

[@FaraidunHawramy]

So so cool project.

[@Skyentific]

Thank you!

[@ertanakbayir]

Super help for developers. Thanks a lot hero

[@jacquesb5248]

you should sell them as kits! brilliant

[@DimitarManovski]

Awsome, thanks man for great videos :)

[@Skyentific]

Thank you for the motivating comment!

[@jonasaskenobis]

nice, thanks for sharing

[@Skyentific]

Thank you for your kind comment!

[@fakhreddinamirhosseini7638]

Great job I really enjoyed and appreciated it. Could you please do another video and explain your controlling methods that you used to set the initial speed and acceleration and the final speed?

[@DimitarManovski]

Thanks for sharing this knowledge. It's very useful..

[@loukask.9111]

Thank you very much in case you remember me :D I have not finished watching this video yet but I'm sure it will be awesome and I hope I can ask you if I have any question! :)

[@Skyentific]

I do remember you. You have a nice logo, easy to remember. Thank you for your comment. And of course you can any question! :)

[@loukask.9111]

@@Skyentific Alright, after watching the video 3 times, I wanted to ask whether or not you are planning to explain the Denavit-Hartenberg matrix a little further because I am really trying to understand the whole inverse kinematic model topic because I need to design a kinematic model for a humanoid robot. Do you think I can do it with this video and will you make some more videos on the matrix for example??? Greetings from Germany and good to know you remember me :D

[@huangsteven8111]

It's great !

[@marklee1209]

I need to look into this and see if I can modify it to work with the Braccio robot kit. The inverse kinematics is what I need.

[@ahmedgaber8036]

it's a great work, can you tell me the limitation of the speed of the robot arm and if it's mechanical limitation or software limitation

[@tuwenbo]

Thank you very much!

[@sdqf]

Планирую повторить, спасибо за видео!

[@Skyentific]

Спасибо за комментарий!

[@markissboi3583]

👨‍💻🚨WARNING🚨 Will Robinson 🚷Danger bad robots 😁 🙋‍♂️ Good video mr skyentific 👍💲

[@MauroTelani]

SUper , you are ready to develop the next 3d (6d ?) printer with autoload of filament.

[@AhmedMohammed-kz6ej]

Thank u so much

[@shuha3216]

Yes, this is excellent!

[@tanjiro3285]

🤘

[@user-kx7ch1zr3q]

Thank you very much.

[@Sabinodireda]

Ciao, complimenti per il progetto, mi ha affascinato da subito, sto terminando la stampa di tutti i pezzi, solo che trovo una grande difficoltà nel reperire tutte le cinghie, pulegge e cuscinetti necessari. Non sarebbe una cattiva idea se mettessi a disposizione un kit pronto per l'acquisto di tutte le parti meccaniche. O magari dei link diretti per l'acquisto....spero tu possa aiutarmi, complimenti ancora, Sabino.

[@boojiecentoobie4272]

Love your channel and this design in particular. May I ask why you did not include a gripper or suction head?

[@user-pn6lb1xu3g]

Круто! Желтый может колбаску подавать а красный ножом нарезать)

[@Skyentific]

Ага. И еще голову приделать (две руки то уже есть) :)

[@user-pn6lb1xu3g]

@@Skyentific точно)

[@zeyadadham9030]

from where you get this values int delValue=4000;
int incValue = 7;
int accRate=530;
int totSteps=2791*2

[@paulo.mesquita]

A suggestion. Why not reverse the position of the motor of the axis 4 and thus the axis 4 can be aligned with the 3 and so the value of r3 can be zero.

[@Skyentific]

This is a good point. In this case the axis 4 is going to cross the axis 3 and this will complicate the mechanical part, but I agree that it would simplify the Arduino code and inverse kinematics significantly.

[@pd.dataframe2833]

how are you controlling the joints simultaniously when you have only one arduino board that can only send signals to one driver at a time

[@cheongwailokmoe-yp4sg]

What is the purpose of dl1 to dl6 constant? The value 200.0 and 4.8 for example these value for what purpose

[@joelevi9823]

Hi, I want to learn about all the algebra calculation. is there a link maybe you used as reference for writing the code? thanks

[@zubairazam996]

it would be nice if it mimics or pupits the act we want to perform , through some encoder, this way we can save lot of time and brain programming it for each new task every time

[@vincentmariethoz956]

In the line
360.0/200.0/32.0/4.8
32.0 is microstepping...
and the others value ?

[@Skyentific]

360.0 - degrees in one revolution (property of our space :) )
200.0 - number of steps per revolution (property of the motor)
32.0 - microstepping, as you already found (property of electronics)
4.8 - reduction ratio of the belt system (property of the reducer)

[@RyuuOujiXS]

19:45 You're welcome.

[@FaisalAljabriH3D]

Please can you mention regarding GCODE usage with 6 DOF

[@Skyentific]

This is an excellent question. I don't know how to use GCODE for 6DoF. But I think it would be nice to integrate this in the robot. As soon as I will find out how to do this, I will try to implement it.

[@FaisalAljabriH3D]

@@SkyentificThanks, I look forward for the GCODE video series.

[@vonries]

I just ran across your channel tonight as a suggested video. I'm so glad I tried it out. You are a very smart man.
I am no where near your level, by any way shape or form. But I can sure imagine putting a hot end out there on the end of your arm. You would have a 3D printer that could reshape the industry. I think you would almost need a new type of g- code to take full advantage of the 6DOF, but it would be so worth it. Can you even imagine the possibilities?

[@hanbatista]

@@Skyentific well, I programmed a GCode interpreter for arduino few years ago... I suppose that as this is angular movement, you have to sync several axis and move them at the same time in order to move the tip/gripper/object in a cartesian space (XYZ).... so, to do that, you need to analyze the 6 axises at the same time and found ecuations for each axis movement that provide you how much you need to move each axis (some of them will need to move faster at some time than other, and smothly change speed to maintain linear move (for example for a linear G-command))
but anyway this is a pretty good arm, congrats!!!... i'm anxious to 3dprint your model and assembly it myself!!!

[@olithompson3280]

inspiring stuff really interesting

[@Skyentific]

Oliver Thompson , thank you!

[@MrSalireza]

Very nice video! Do you compute intermediate joint angles in GoStraightLine function? Also do you plan to communicate to your robot arm through serial or wireless connections by sending sending position commands, in the future? Curious to know about your planned next steps

[@Skyentific]

Thank you for your comment. I don't compute intermediate joint angles in GoStraightLine, it goes in straight line in joint space (not in physical space). I should say that the program is not optimised at all. I hope that some one who is more experienced with coding than me will take care of this program. That is why I put it in open source.
But I do plan to use serial connection to send command to the robot from computer. I also plan to use the bluetooth connection to send the serial commands. I hope to finish bluetooth part soon. Maybe I will be even able to control the robot from the smartphone to make it more user-friendly.
My big next project is to make human size robot arm based on brushless motors. But this is a big project and, probably, it will take half a year to develop it.

[@rafadipre]

It look awesome

[@DIYRobotGirl]

How was this done with a delay wouldn't block the rest of the code? I thought we would use millis and array of structs with system like this and I figured with would be a state machine. Would this code work with three robots like right arm and left hand and kneck for the head.

[@cosmoszeeistflight]

Sir, I am a robotic student ..I found ur channel accidentally.. But very informative..
Can u solve my problems if I have any doubt according to this project ?

[@justtestingonce]

SÍDDHÁRTH BÁYLÔR He has already helped you more than enough and made many videos.

[@Skyentific]

Yes, if you have a question on this project do not hesitate to ask it!

[@cosmoszeeistflight]

@@Skyentific thank you sir

[@shadewar]

Do you move all 6 stepper motors simultaneously? If so, how did you do it without the multistepper library?

[@HakkiOgrt]

Thank you.

[@kazolar]

Are you going to add some form of joystick control, that would be really neat.

[@Skyentific]

I would like to try to make Android application using MIT Inventor, to control this robot. Like this, with app it would super easy to program and to control it in real time.

[@Industrieelektriker]

How to connect and control the robot with ROBODK? I've built the robot, but I can't program it.

[@vinchator88]

Great thank you...
I really hope you will continue to improve this arm
Next step the gripper ?
What do you think about limit switches ?
👍🏻👍🏻👍🏻

[@Skyentific]

Thank you for your comment. I plan to make the gripper as well. I don't know if it is going to be the next step or next next step :).
For the moment I don't see any real needs for the limit switch. But it would complicate robot a lot (two switches per axis, times 6 axis = 12 switches, 13 additional wires).
Also, as it is the open source robot, everyone can modified it, and add limit switches or encoders. I hope someone will try this.

[@vinchator88]

@@Skyentific 👍🏻 You work for EPFL ?

[@Skyentific]

Yes, I do work at EPFL. At Swiss Plasma Centre.

[@vinchator88]

@@Skyentific 👏 fusion is the future !!

[@jianxu9032]

I come again ，great！！！

[@Skyentific]

Thank you!

[@jarisipilainen3875]

7:15 why it go home on loop().there is no home limit switch and when power on.it will be home position where robot arm is when you power it.so it will not move.put it on funtion and call it setup if want and can use home function somewhere on program,but should not be on loop.unless want move it like DEMO mode

[@kohjb]

Love your work and watching all your videos. For the code, why couldn't you embed the inverse kinematics routine within the gostraightline routine (I.e. just call go straight-line with X pts rather than J pts) ? Just wondering if I'm missing something.😀

[@antlvk]

Can this arm add in CNC function to become 5 axis CNC machine. That would be cool

[@Skyentific]

Yes. but the arm is not too strong for this. It has only 200g payload capability. May be for very light part for soft material.

[@user-ox1yd2kp6t]

is it possible to add servo capture support to the arduino firmware .in programming, complete zero, please help.thanks.

[@nitingamare9693]

Thank you ❤️ sir for sharing 🙂
Is there any wiring diagram for Arduino connections

[@arayarock1]

good job . i would like make one

[@emremat3521]

Excellent job.. Could you give me advice a Source to understand kinematic calculations

[@Skyentific]

Good question. I used lectures from RUclips (Angela Sodemann). And also I read couple of papers, but they were not very informative. Unfortunately, I don't know have one very good source... Try to start with Angela Sodemann.

[@joshyoung9375]

I want to build a robot arm, but also want to play with brushless motors. Should I build this or just wait for you newer builds so I can follow along? I have already built a SCARA that runs on Marlin and am working on a humanoid that will eventually be run on ROS (based of some of the James Brunton Robot X, but with belts and pulleys). I would like to learn more about joint and motor design to improve these projects, what build project do you recommend I start with?

[@mistertea5515]

Very nice video! A few questions. What is the maximum payload it can carry? What is the size of its working range? How precise is the repetitive movement in millimeter? Is it possible to integrate machine learning and autonomy?

[@Skyentific]

Some of the answers you can find in this video, where I tested this robot: ruclips.net/video/OU80pkbl-KM/видео.html . I would love to integrate some machine learning, but it would take some time (but I will try).

[@Skyentific]

Thank you for comment!

[@lzz709]

Dear Professor , Would you share a URDF for this robot. Thanks .

[@ziad_jkhan]

Thanks for sharing your work to the world. I'm interested in the BOM so I can figure out how much it will cost me before I start building it. Is this something that's been published already?

[@Skyentific]

Thank you for your comment! Everything is published! Check out my GitHub page: github.com/SkyentificGit/SmallRobotArm . There is the link to this page in the description to the video too.

[@ThomasTheFapEngine]

Could you consider attaching an e3d v6 or similar extruder to this and using a program like powershape/powermill to set up the sliced gcode?
I haven't seen anyone go through the full process on RUclips and I'd like some more background on the additive/extruder attachment side of things before I start building my own similar project.

[@c.a.m431]

Hello everyone, can I print these parts with a Creality Ender 3 V2? Is the volume big enough for such kind of dimensions? Thank you?

[@folafolic8113]

Great video. My question to you is. Why do you have foward kinematic function. Can't see that you call function fowardK in your code.

[@jorge1217m]

amazing, thanks!!!!

[@forloop7713]

Do the belt drives make the repeatability, accuracy and precision worse, also would it be possible to install a milling spindle on this robot?

[@andikawicak7405]

nice tutorial

[@ambmendes7]

would it be possible to put a clasp on the end?

[@Skyentific]

Yes! I am working on this.

[@user-fv8yz7kv3t]

You are amazing

[@hadis_ens2928]

thanks for your video.. how can I ask you some question about your Arduino code?

[@elvinelvin8758]

Hello! I want to know the explanation of the inverse kinematic. Have you showed it anywhere? Or did you use the Pieper's Solution？

[@korlys9325]

Hi, Great design. On which Android version you have a bluetooth control apk installed?

[@mikealbert728]

Thanks for this. Can you use servos instead of steppers with this?

[@johanbotha9755]

I really like your videos. What size power supply would I need for this 6-axis robot? Will a 30V 10A bench power supply be acceptable?

[@Skyentific]

Thank you! I think 100W should be enough (even less). But, if I am not mistaken, the power supply should be between 12 and 24V (not higher than 24V).

[@johanbotha9755]

@@Skyentific Thank you. It is adjustable, so the maximum is 30V, but I will remember to set it lower. I will put a picture on your thingiverse page once it is completed.

[@Skyentific]

Great! Good luck!

[@elhassanahmed6469]

Hello, Hope that you see my comment
Recently (to be more Accurate, This year) I (and my team) build a 6DOF Aluminium Robotic Arm [which is Approx. 2 Meter Tall, working with nema 34 and nema 23 and gearboxes 25:1 and 30:1], for Experimental Purposes in the field of Agriculture [in the University]
but unfortunately, I am facing some troubles while coding the acceleration code, I tried to use Accelstepper and FlexyStepper but all of them doing the same, starting from 0 speed and ending at 0 speed .. which is good to move from point A to point B and stop..
and of course, it doesn't support to move smoothly in a path [that contain many points].. because (as you said) it must have its initial speed and final speed.. which those libraries doesn't support.
So, could you refine your code and make a library that controls the stepper motor by giving it (steps to go, speed, acceleration, initial speed, final speed) , i think this would be helpful for all those who make projects related to a robotic arm, etc.
Or Suggest any useful Library/Method that I can use to solve this problem.
*if you are interested to see our Robot I can send you a video :D

[@MohamedAli-xb7kh]

Thanks Sir

[@dietpepsimax1]

What a cool little robot, how much do you suppose it costs to make one?

[@Skyentific]

I have a bill of material with the prices on the GitHub page with all the files. In total it is around 400 dollars without plastic for printing and without screws and nuts and other small things.

[@sabzimatic]

Sir,
if you can explain this function in a separate video would be great:
void goStrightLine(float* xfi, float* xff, float vel0, float acc0, float velini, float velfin){
//
float lmax = fmaxf(abs(xff[0]-xfi[0]),abs(xff[1]-xfi[1]));
lmax = fmaxf(lmax,abs(xff[2]-xfi[2]));
lmax = fmaxf(lmax,abs(xff[3]-xfi[3]));
lmax = fmaxf(lmax,abs(xff[4]-xfi[4]));
lmax = fmaxf(lmax,abs(xff[5]-xfi[5]));
unsigned long preMil = HAL_GetTick();// micros();
double l = 0.0;
vel0 = fmin(vel0,sqrt(lmax*acc0+0.5*velini*velini+0.5*velfin*velfin));
unsigned long curMil = HAL_GetTick();// micros();
unsigned long t = 0;
double tap = vel0/acc0-velini/acc0;
double lap = velini*tap+acc0*tap*tap/2.0;
double lcsp = lmax-(vel0*vel0/2.0/acc0-velfin*velfin/2.0/acc0);
double tcsp = (lcsp-lap)/vel0+tap;
double tfin = vel0/acc0-velfin/acc0+tcsp;
while (curMil-preMil

[@steven8148]

did the design comes with Strain Wave Gear?

[@pd.dataframe2833]

the robot doesnt have any feedback sensors to give the position of each arm... so how does the robot know what is its home position... im trying to build a different and a little bigger arm... do you suggest me to use the optical encoders to get the position feedback

[@Skyentific]

It is always good to use encoders if you can. Optical encoders are good choice. I don't use them as I don't have place for them. And they would complicate the arm a lot.
I know the exact position of each motor at start (as robot at start is in folded position). All other position I calculate from this folded initial position. And this method works quite good.

[@pd.dataframe2833]

@@Skyentific hey thanks for taking your time out to clarify my doubt... you are doing some seriously good work

[@Skyentific]

Thank you!

[@fanker1111]

Приветствую. Недавно наткнулся на Ваш канал и теперь смотрю с удовольствием. Хотел спросить, почему Вы не снимаете ролики на русском? Тема очень интересная, а в русском сегменте почти ничего подобного нет.

[@Skyentific]

Originally I am from Russia, but it is more than 14 years that I live in Switzerland (French speaking part of Switzerland). I do have a strong Russian accent, but I think that everyone understand English, so to cover more people I decided to make this channel in English.

[@SModeller]

@@Skyentific кто вы по профессии? судя по плазме и сопутствующей атрибутике - физик-ядерщик?))

[@lovetsky]

Axis - Igrik 😄

[@DPTech_workroom]

Что то за такие прикольные профиля, на которых объясняются положения осей?
Можно на них ссылку получить, или их названия написать?