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Thread: Phoenix Inverse Kinematics Port

  1. Phoenix Inverse Kinematics Port

    First this is a work in progress. I.E I don't have my SSC-32 yet (its in the mail). And i need to get another 22 Servos to 100% debug the code.

    Right now it compiles and Outputs the "right stuff". But with a twist. My robot uses 32 servos on 8 eights. (thats four servos per leg with 8 legs for the mathematically challenged).

    I use an Arduino cause its easy and i got like 5 RBBB's laying around.

    So I took zenta's code and ported it over to the Arduino Custom C language

    Now it wouldn't be took hard to pull the extra lines out if there is enough interest for me to do so.

    Mind you this is just the IK code so far and it compiles out at 14 almost 15k.

    Let me know.

  2. #2
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    Re: Phoenix Inverse Kinematics Port

    Hi and welcome!

    Your project sounds very interesting and ambitious. What servos are you planning to use? Sounds like you are going for a 4 DOF leg. May I ask where you are placing the extra joint? Did you also solve the kinematics for the extra joint? I'm working/planing for a 4 DOF per leg on a hexapod myself, so I'm a bit curious . Have you made one leg already? Pictures are highly appreciated!

    BTW, if the code you've ported are based on the Basic Atom Pro code made for Phoenix thats Xan's work and he deserve the credit.

    Looking forward to read and see more of your project.

    Good luck!

    -Zenta

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    Re: Phoenix Inverse Kinematics Port

    SkyNet bot in the works?

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    Re: Phoenix Inverse Kinematics Port

    Welcome to the forum!

    >> and it compiles out at 14 almost 15k.

    On the Arduino?
    I Void Warranties�

  5. Re: Phoenix Inverse Kinematics Port

    Ok i updated my code header to put credit to KAN.

    zenta - it 4DOF works in processing but i have the wait and see attitude for real world test.

    i am going with HS-485HB servos. i need 32 of them so yea.. a bit pricey hence no metal gears for right now.

    if you look at a spider for the leg structure the joint after the Tibia is the Metatarsus then the claws. so i called my join the Metatarsus.

    I got the base code to pose the thing by controlling each individual servo and then outputting the pose to my computer. Which i can then pass back if need be in frames of motion.

    If my IK code port doesnt work out.


    Also this is my first robot.

    Adrenalynn - I am using RBBB arduino's with amtel 328's they got about 30k of storage space for the program. I might be adding 1 meg of I2C memory to store poses and routines if the IK doesnt workout.

    Quantum the last teriminate i watch was T2 so i guess i got to google that.
    Last edited by zhanx; 10-07-2009 at 08:51 AM.

  6. Screen shots

    Here is a couple of screen shots of my processing, i inverted the mouse and never fixed it.





    but the code is way simple compare to using it on a bot.

  7. Re: Phoenix Inverse Kinematics Port

    think those servos will be fine? My body is 3/16 laser cut Plexiglas. its very light. I can go to say HS-625MG or the HS-645MG but i figured it would be overkill.

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    Re: Phoenix Inverse Kinematics Port

    >> think those servos will be fine?

    Nope! But no body wants to hear that, so no one points it out any more.
    I Void Warranties�

  9. Re: Phoenix Inverse Kinematics Port

    Quote Originally Posted by Adrenalynn View Post
    >> think those servos will be fine?

    Nope! But no body wants to hear that, so no one points it out any more.
    good point. Should i look into the metal geared ones then? I figure the power to weigh ratio should be fine. But i couldn't find any real data on how they would last in continuous operation.

    Rather buy once than keep replacing over and over. I am more of a fix it right once than fix and repeat type

  10. #10
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    Re: Phoenix Inverse Kinematics Port

    Personally, I doubt you'll find that the metal gears are your issue here. I think you'll find that the power-to-weight isn't so fine. But that's one of those things that people tend to learn "the hard way".

    Can you find an example anywhere on any forum where such a bot was [successfully] built with 485's (aka 475's with a new sticker on them)?
    I Void Warranties�

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