are you human? - computer vision - motion control - mechanical design - machining - programming - i assume also at least some application of maths (perhaps linear algebra) 4 months for all that? you're something. and how do you finance your projects? that's a lot of tools for just hobby... and seems like the space is a commercial premise. salute... i want to be you.
Yes, I'm human ;) Its a little bit more than a hobby, I'm a freelancer, mostly programming but with some custom hardware on the side. Projects like this help me to learn new things and attract new clients. But mostly, its just great fun to do.
Where did you learn all of this?! That’s so amazing!! Like seriously, if you have some tips and see this comment, please let me know!! #MechanicalEngineeringStudent
I build a 6-axis robot arm this year,but with no idea making a 6-axis controller.Till I saw this video and got the source code on your Github.That has helped me to a great extent.
Aaaand you're hired for wherever you want. Seriously, nothing says SpaceX, LockHeed Martin, Literally any car company than designing your own robot arm. This is amazing.
May I suggest that when you are sketching designs for prototyping and building, you use a composition notebook?That way you won't have loose or torn papers so you can keep track of your work.
Lol, you're like me - old school. He only did a sketch for the video. Almost all the stuff in that shop was CNC - his notebook is a thumb drive. The wire strippers and flush cuts were top of the line. What was he building? A robot arm that stacks blocks.
+Kris Temmerman I'm studying mechanical engineering, always dreamed of having a workshop like that. Would you consider creating an apprenticeship to help you out with stuff around the shop?
This is very interesting. I've reviewed many DIY robot arm builds and this one is the most professional I've seen. Despite all the great design, engineering, materials, machining and software. The arm is not stable like a commercial robot arm, you can see a sway and shake. When reviewing thees videos want to see if the motion is rock solid. When you see a compound move (two joints moving at once) there should be no movement any were else. What is the secret to the expensive robot arms? Gearing, backlash, balance?
We are hoping to add a robotic arm to a VR room we made. Wondering if you know any good candidates to buy that are turn key? Looking for aesthetics and big (hanging from the ceiling)
the secret is rigid materials, precise servos and first of all: good, accurate design, which requires much study on mechanics like kinematics, dinamics, statics, elasticity, etc and takes years to pick up. That's it.
Wauw Kris! Je hebt echt talent! Het is erg mooi om te zien dat je vanaf helemaal niks, een professioneel uitziende robotarm designed, bouwt en daarnaast ook nog programmeert! Dan stelt mijn robotarm nog niks voor..
The first time the gripper releases a block either the grippers are adhering to the block or they are not releasing simultaneously because the block scooted. I am assuming there is no other movement in the arm at the time. Just another detail to take care of wrapping up some very nice work on your part. Someone mentioned it may be a stepper motor kicking back?
This is an awesome build, i was curious however what is that program you're using that's displaying the robot kinematics and position on your laptop. is that something you've written or something that's available? Also did you run this entire arm off an Arduino or did you just use that for motor control then use your mac for computer vision and path planning?
Awesome job! I'm trying to build one for school project and this one is awesome, my project would never be compared with yours. Let me tell you that this is the first time I comment a video in RUclips because you deserve to be congratulated. Greetings from Mexico.
Accept my respect for your creativity. Let me ask a few questions: What is the width of the rail? What is the weight of the robot? What is the power of the largest motor?
Amazing project! One man show! Is there a "how to build this" guide for this project? I would be interested to consider it to give it a try. I didn't see anything related to this in your git repos. Cheers!
What program did u use for programming the robot hand? And what kinda board did u use for the electronic components and how about the power,? And the voltage?
Still not stiff enough to avoid UNWANTED inertial movements that kill precision motion, happening for example at 3:44 (and on) when braking or starting a movement [accelerating / desaccelerating]. As always, backlash gearboxes and/or feeble assembled aluminum framing and are guilty (causes) of that. That's why KUKA and ABB robot frames are made of cast iron, and use complex Nabtesco mega expensive gearboxes. However, according to cost, this is still a decent specimen for prototyping.
I doubt the frame gave in with such a small scale, but yes the gears need to be airtight, along with shafts and bearings that have no possible give. And there is a great deal in adaptive programming, a stepper motor can approximate moving 90° but higher the load and less accurately it can do that. So you need to make the programming work out the load on a particular motor at all the angles and then compensate with soft deceleration to match expected backlash.
Nice work, I'm really envyous about your workshop. Using stepper motors and worm gears isn't the best choice, now you have backlash and some springyness in your joints. Why no servo motors? You could use magnetic rotary sensors from ams and some nice geared dc-motors. For reducing the needed torque: Make sure, the center of mass of the second arm link is as close as possible to the ellbow joint, best is its located directly on the axis. Then add some springs to the first arm link in the shoulder joint to compensate the weight of the arm. There's a way to calculate the needed excentricity and base point for given weight and spring compliance, but I can't find a source on the web. When this is done correctly, all main joints should be free of static loads and the motors have just to accelerate the masses and regulate disturbances (eg. extra weight on the gripper). This is also done in real industrial robots, you can often see the cylinders at the shoulder that are pneumatic springs for the weight compensation.
It's not that easy to make a servo with a DC motor and a random encoder. It takes a lot of time if he has never done such thing before. Finding out the right PID constants, plotting step responses and dealing with noise in the encoders etc. is very time consuming. I think he did the right choice going for steppers. I think you're right about the other stuff you said.
For the amount of time and money spent on building it, I would have come to your address and stacked those blocks for 4-5 months. I would also have brought my Yamaha keyboard and played music. Great video.
Do you use high torque stepper motors? I have a bunch, but they have a bunch and I want to make my own robotic arm, but they can't even lift the arm itself
Totally found my new role model XD Seriously, I'm majoring in robotics (finishing up my general education right now) and I haven't learned how to do anything like this. Where did you learn how to do all this and how long did it take you to get to this point?
Thanks :) The hardware: not that long, most things I learned while making it. The software: hard to tell, I'm a programmer for more that 10 years, so I have some experience. which makes it easy to fill in missing gabs or find solutions for problems .
When you come up with an idea for a project, what is the first step in realizing that project? It looks like you go 1. Visualize it on paper 2. Design it in (auto-cad?) 3. Acquire the physical components 4. Assemble (base components, electronics, and software) 5. Test and Debug ... Does that sound about right?
I don't mean this to be rude, I'm just curious. Why is it so jittery when it comes to a stop? Like it moves smooth then it reaches it's destination and slams to a stop shaking itself. Is that just an effect of the stepper motors or just needs a decelerating script or something?
Man you are amazing.I want to learn from you a lot and be like you.Please can you make vedios on educating the mechanical machines which you have in your workshop,how to work on them ect.Then teach the programming skills that you have.Then the effective design process of any project.It will be very fascinating if you share your knowledge and I personally love to watch your vedios but want to get knowledge in much detail.Thanks man you are an inspiration for others.....Keep it up the great work....
Amazing!! you are great! I have a question, I hope and you can help me. How do you do the cinder-arduino communication? I'm doing some projects and I'm very stuck in that part. Answer please🙏🏻
Hi Kris, I'm building a simpler 3 axis arm and I'd like to stop all the motors at the same time like you did. I've wrote the code for acceleration with multiple steppers but they go out of sync when I set differents speeds, accelerations and positions. Can you please tell me how did you handle that? thanks in advice.
Great work sir..... Please tell me Your education qualifications And which software use make 3d modeling..... Which language best for this type project make in future..... Great work sir.....
Can it Move Linear... looks like a Point to Point movement... still awesome! I would like to build one of my own with everything like an HMI, Linear Transformations, diffrent speeds, Bases and tools you can define. I know it will take some years :P
The arm/the single parts of the arm have their center of mass somewhere in the middle. This means, that, when the arm isat rest, the motor will not. You should think about counterweights (so the CoM is at the motor axle) for more precision, but it will make the arm move slower, because of greater mass, obviously
are you human?
- computer vision
- motion control
- mechanical design
- machining
- programming
- i assume also at least some application of maths (perhaps linear algebra)
4 months for all that? you're something.
and how do you finance your projects? that's a lot of tools for just hobby... and seems like the space is a commercial premise.
salute... i want to be you.
and you can draw too...
Yes, I'm human ;)
Its a little bit more than a hobby, I'm a freelancer, mostly programming but with some custom hardware on the side. Projects like this help me to learn new things and attract new clients. But mostly, its just great fun to do.
Where did you learn all of this?! That’s so amazing!! Like seriously, if you have some tips and see this comment, please let me know!!
#MechanicalEngineeringStudent
he's not human ,for real !! i'm soo amazed
he is iron man......this guys is not of this world
I build a 6-axis robot arm this year,but with no idea making a 6-axis controller.Till I saw this video and got the source code on your Github.That has helped me to a great extent.
Dawn Chang where are you? We can contact by QQ:30088903,thanks
Can you help me with cad files and source code
This should’ve been like a 27 part series. That way I’d have an understanding of all the stuff I don’t know. Bravo dude!
When are you going to build the Iron Man suit?
Excellent Person. Excellent Engineer. Excellent Father. CONGRATULATIONS !!!
What you did in 2014 is still amazing! Which itself is amazing!
I'm probably too late, but can we get a tutorial for this or the learning resources?
Aaaand you're hired for wherever you want.
Seriously, nothing says SpaceX, LockHeed Martin, Literally any car company than designing your own robot arm.
This is amazing.
too many fans need to knows how to be Kris Temmerman
I`m very excited to have the sources to learn that stuff u do
Amazing. That work shop would be everything I could need for prototyping and beyond..Dream shop. Great job too, skills needed to go with those tools.
My god, you have a lot of free time and budget to develop this, great work!
24h per day !
My God man you make me cry every time I see the stuff you make, it's so cool, so genius.
nice job Kris Temmerman
What software package did you use to simulate your robotic arm?
You made the whole thing that a company of 500 people doing to archive, congratulation!!!!
The art of engineering ! :)
What program is used to programming the movement of the robot ? In the video it schematically in 3D sets the next step of the robot
Владимир А I am also interested in the 3d robot environment.
Amazing how prisons look like these days!
What??
@@fezz6701 the guy in the video is wearing an orange jump suit, people in prisons wear those.
Can you please let me know how long did it take you to build it up completely from the scratch???
Please
May I suggest that when you are sketching designs for prototyping and building, you use a composition notebook?That way you won't have loose or torn papers so you can keep track of your work.
Lol, you're like me - old school. He only did a sketch for the video. Almost all the stuff in that shop was CNC - his notebook is a thumb drive. The wire strippers and flush cuts were top of the line. What was he building? A robot arm that stacks blocks.
If all of this work is really done by you, then you deserve more than 10 million subscribers!
I enjoyed watching this. Thank you! I wished it showed the whole process and not only in 5 mins.
Kris, you are genius!
great work !
mechanics, electronics, programming... all by yourself ?!
how long took it to build this?
tnx! it took me +- 4 months
plz said how you're doing camera-to-machine control, I need it
@@shantosutradhar1365 google computer vision, object detection
@@le-0ne More explanation please.
That was impressive! One man band!
Good, thanks Kris
great work!... nice and clear... Ps: and i wish had an workshop like yours
That's aaaaawesome dude it moves amazingly soft and gentile !!! Awesome dude!! Damn I'll be a macatronical engineer!!!
oh My God... you have your own lab, its really really great. 3D printer, CNC milling, drilling machine, lathe machine...
Muhammad Ari Wibowo Thx! I'm a lucky guy :)
+Kris Temmerman I'm studying mechanical engineering, always dreamed of having a workshop like that. Would you consider creating an apprenticeship to help you out with stuff around the shop?
This is very interesting. I've reviewed many DIY robot arm builds and this one is the most professional I've seen. Despite all the great design, engineering, materials, machining and software. The arm is not stable like a commercial robot arm, you can see a sway and shake. When reviewing thees videos want to see if the motion is rock solid. When you see a compound move (two joints moving at once) there should be no movement any were else. What is the secret to the expensive robot arms? Gearing, backlash, balance?
We are hoping to add a robotic arm to a VR room we made. Wondering if you know any good candidates to buy that are turn key? Looking for aesthetics and big (hanging from the ceiling)
the secret is rigid materials, precise servos and first of all: good, accurate design, which requires much study on mechanics like kinematics, dinamics, statics, elasticity, etc and takes years to pick up. That's it.
Wauw Kris! Je hebt echt talent! Het is erg mooi om te zien dat je vanaf helemaal niks, een professioneel uitziende robotarm designed, bouwt en daarnaast ook nog programmeert! Dan stelt mijn robotarm nog niks voor..
The first time the gripper releases a block either the grippers are adhering to the block or they are not releasing simultaneously because the block scooted. I am assuming there is no other movement in the arm at the time. Just another detail to take care of wrapping up some very nice work on your part. Someone mentioned it may be a stepper motor kicking back?
This is an awesome build, i was curious however what is that program you're using that's displaying the robot kinematics and position on your laptop. is that something you've written or something that's available? Also did you run this entire arm off an Arduino or did you just use that for motor control then use your mac for computer vision and path planning?
C'est des personnes comme lui qui ont fait ce pays !
Nice mornings work - what did you do after lunch?
looks cool! good job.
two questions:
why don't you cut the zip-ties flush?
why don't you have a space after "=" in the code?
one answer: I'm lazy
Dear Kris,
What is the software you are using for simulation and programming?
Hi man, that's excellent. Did you embed the kinematics calculations into Arduino or did you write it on C++ and send locations via serial port?
How long did it take you to build it?
Awesome job! I'm trying to build one for school project and this one is awesome, my project would never be compared with yours. Let me tell you that this is the first time I comment a video in RUclips because you deserve to be congratulated.
Greetings from Mexico.
Armour Mendia Thanks! :) You have to start somewhere, I'm also still learning stuff. Good luck with your project!
Excellent.... This is another level. 👍
Well, that is a nice robotic arm!
Accept my respect for your creativity.
Let me ask a few questions:
What is the width of the rail?
What is the weight of the robot?
What is the power of the largest motor?
Amazing project! One man show! Is there a "how to build this" guide for this project? I would be interested to consider it to give it a try. I didn't see anything related to this in your git repos. Cheers!
What program did u use for programming the robot hand? And what kinda board did u use for the electronic components and how about the power,? And the voltage?
Realy nice project
Nice work. Well done.
Outstanding build !!!
Very cool and impressive!
Still not stiff enough to avoid UNWANTED inertial movements that kill precision motion, happening for example at 3:44 (and on) when braking or starting a movement [accelerating / desaccelerating]. As always, backlash gearboxes and/or feeble assembled aluminum framing and are guilty (causes) of that. That's why KUKA and ABB robot frames are made of cast iron, and use complex Nabtesco mega expensive gearboxes. However, according to cost, this is still a decent specimen for prototyping.
I doubt the frame gave in with such a small scale, but yes the gears need to be airtight, along with shafts and bearings that have no possible give.
And there is a great deal in adaptive programming, a stepper motor can approximate moving 90° but higher the load and less accurately it can do that. So you need to make the programming work out the load on a particular motor at all the angles and then compensate with soft deceleration to match expected backlash.
nice job! where can I buy those connectors you used to wire the steppers? looks great, thanks!
Nice work, I'm really envyous about your workshop.
Using stepper motors and worm gears isn't the best choice, now you have backlash and some springyness in your joints. Why no servo motors? You could use magnetic rotary sensors from ams and some nice geared dc-motors.
For reducing the needed torque:
Make sure, the center of mass of the second arm link is as close as possible to the ellbow joint, best is its located directly on the axis. Then add some springs to the first arm link in the shoulder joint to compensate the weight of the arm. There's a way to calculate the needed excentricity and base point for given weight and spring compliance, but I can't find a source on the web.
When this is done correctly, all main joints should be free of static loads and the motors have just to accelerate the masses and regulate disturbances (eg. extra weight on the gripper). This is also done in real industrial robots, you can often see the cylinders at the shoulder that are pneumatic springs for the weight compensation.
It's not that easy to make a servo with a DC motor and a random encoder. It takes a lot of time if he has never done such thing before. Finding out the right PID constants, plotting step responses and dealing with noise in the encoders etc. is very time consuming. I think he did the right choice going for steppers. I think you're right about the other stuff you said.
There are servos in the market with the magnetic encoder like the parent coment guy talked about. And they are much better
What did the sensors you use?
Puree, wat een project...
Amazing work. I am guessing the 3 dislikes were mis-clicks. Dunno how anyone could not like that!
Nice work!
For the amount of time and money spent on building it, I would have come to your address and stacked those blocks for 4-5 months. I would also have brought my Yamaha keyboard and played music.
Great video.
you're definitely an inspiration!
Hello, can you share what bearing arrangement you have used for the shoulder joint ?
What programs did you use to make this? Also, awesome video! I hope your channel will grow well and a happy new year!
Could you tell me which robots simulation software you used in this video? Or, you wrote them by yourself?
Do you use high torque stepper motors? I have a bunch, but they have a bunch and I want to make my own robotic arm, but they can't even lift the arm itself
Kris , looks like you have a lot of fun. Specifically what is the name of the IDE you are using ?
what metal do you use aluminum, silver or iron?
Totally found my new role model XD
Seriously, I'm majoring in robotics (finishing up my general education right now) and I haven't learned how to do anything like this. Where did you learn how to do all this and how long did it take you to get to this point?
Thanks :) The hardware: not that long, most things I learned while making it. The software: hard to tell, I'm a programmer for more that 10 years, so I have some experience. which makes it easy to fill in missing gabs or find solutions for problems .
When you come up with an idea for a project, what is the first step in realizing that project? It looks like you go 1. Visualize it on paper 2. Design it in (auto-cad?) 3. Acquire the physical components 4. Assemble (base components, electronics, and software) 5. Test and Debug ... Does that sound about right?
Yes, something like that. but its more a back and forth between the stages. It was all experimental for me, so I made a lot of changes along the way.
very amazing video!
I don't mean this to be rude, I'm just curious. Why is it so jittery when it comes to a stop? Like it moves smooth then it reaches it's destination and slams to a stop shaking itself. Is that just an effect of the stepper motors or just needs a decelerating script or something?
Great video!!! WHat is the software using for writing C++ and the 3D robot arm animation (interface)?
what are the connectors you use at 1:55 ?
Man you are amazing.I want to learn from you a lot and be like you.Please can you make vedios on educating the mechanical machines which you have in your workshop,how to work on them ect.Then teach the programming skills that you have.Then the effective design process of any project.It will be very fascinating if you share your knowledge and I personally love to watch your vedios but want to get knowledge in much detail.Thanks man you are an inspiration for others.....Keep it up the great work....
which materials did you used to built your robot is it aluminum only throughout your robot
Amazing!! you are great! I have a question, I hope and you can help me. How do you do the cinder-arduino communication? I'm doing some projects and I'm very stuck in that part. Answer please🙏🏻
There is a SerialCommunication sample in the cinder-samples. You can start with that :)
@Jorge Zepeda did it worked?
Hi Kris
Did you use encoders? Or, do some form of feedback?
Hi Kris, I'm building a simpler 3 axis arm and I'd like to stop all the motors at the same time like you did. I've wrote the code for acceleration with multiple steppers but they go out of sync when I set differents speeds, accelerations and positions.
Can you please tell me how did you handle that? thanks in advice.
Awesome talent
great job! can you tell motor and gear ratio?
Hey, Kris. It's an astonishing of what you've done. What is all the software that you used for developing and simulation?
what is that simulation software in 2:35?
awesome axis
Oh it's real cute stacking those blocks, just give it a year or two and it will be stacking our severed heads!
*Belle démonstration, c'est vraiment du bon travail, à bientôt*
now thats what I call a workshop !!!!!!!!!!!!!!!!!!!!!!!!!
Great work sir.....
Please tell me
Your education qualifications
And which software use make 3d modeling.....
Which language best for this type project make in future.....
Great work sir.....
Can it Move Linear... looks like a Point to Point movement... still awesome!
I would like to build one of my own with everything like an HMI, Linear Transformations, diffrent speeds, Bases and tools you can define. I know it will take some years :P
which software is used for kinematics?
Hi, excuse me one question here. How can someone develop your engineering skills? Like... how?! How did you get all that experience?
The arm/the single parts of the arm have their center of mass somewhere in the middle. This means, that, when the arm isat rest, the motor will not. You should think about counterweights (so the CoM is at the motor axle) for more precision, but it will make the arm move slower, because of greater mass, obviously
Amazing project!!
Great Job!
Dear respected sir, I am really very happy for your awesome robot.
What wire strippers are those at 1:57 ?
where did you get that picture recognition software?
How in the world?! That's amazing! I wish I had the skills to do that
What a beautiful video! You have many skills
Brilliant. keep making such type of videos
what software is that at @2:38
Its my own software, that I wrote for the arm, you can find it on my github :)
Hey man, what you`ve done is great ! But how much it is gonna cost a robot arm like that made by you ?
nice work and very nice workshop :)
What software are you using for programing this?
Hi Kris what was the software you were using to control the robot? How did you get the visual interface of the robots position on your computer?
Hi Jack, It's my own software I made for the robot, you can find it on github github.com/neuroprod/NPBOT
very very nice, my respect to you sir. can you please tell me what is the size of your motors? and what is also the gear ratio you used?
Bara Abu Shaqra the First Axis is a Nema 42, the rest are Nema 32s and smaller
gear ratios are all 1/40
***** thank you sir :)