Make: Robotic Arms

104 Make: Robotic Arms

WHAT ARE WE BUILDING?

Now that we understand the math involved in creating the inverse-kinematics

calculations needed for our four-link robotic arm, it’s time to once again convert our

equations into code.

STEP 1: CONVERTING OUR EQUATIONS INTO CODE

double x = 30.0;

double y = 120.0;

double linkOne = 100.0;

double linkTwo = 100.0;

double alphaOne;

double alphaTwo;

double alphaFinal;

double betaOne;

double betaTwo;

double betaFinal;

double c;

double d = 60.0;

double e;

void setup() {

Serial.begin(9600);

}

void loop()

{

c = sqrt((x*x)+(y*y));

e = sqrt(((d-x)*(d-x))+(y*y));

alphaOne = atan(y/x) * (180/PI);

alphaTwo = acos(((linkTwo*linkTwo)-(c*c)-(linkOne*linkOne)) ...