Delta robot controlled via iPhone accelerometer - Filippo Sanfilippo

An iPhone is used to control the robot. Data coming from the iPhone's accelerometer are send to a server through Open Sound Control serial messages. When the server receives these messages, it applies inverse kinematics and calculates the joint angles' values. Finally, these angles are send to an Arduino microcontroller in order to actuate the motors.
Here you can find a better explanation:
http://dl.dropbox.com/u/12391188/Study%20of%20a%20parrallel%20delta%20robot%2...

Category:

Science & Technology

Tags:

• iPhone
• robot
• arduino
• accelerometer
• parallel robot
• robotic
• kinematic
• iPhone 4
• delta robot

[LinkinRoly]

Hi from Mexico, great work I going to try that , I study mechatronics and just question what version Arduino you use ?? or if I have problems in the code or something, could you help me ??

thanks :)

[filipposanfilippo]

@LinkinRoly Hi, thanks. I used Arduino Duemilanove...but you can also use the last version, Arduino Uno is quite similar and you only need 3 digital outputs. If you have any problems you can ask me or refer to the attached pdf.

[filipposanfilippo]

@ppiibb I just read the accelerometer values (rotation and orientation) and I multiply for a gain...it works quite good but I think you can get much better results using the integration

[ppiibb]

@filipposanfilippo Im sorry, me again, by "use the tilt of the devide as spatial coordinates" you mean, just have the reading of the accel. as if it were position? cause it looks very good... what im trying to do is nothing fancy just an open-loop control of a 2DOF robot (just X and Y tilting)

[filipposanfilippo]

@ppiibb That's was my first intend...but as you can read in the paper "Since I wanted to obtain some results as quickly as possible, I decided to use the tilt of the iPhone as spatial coordinates. In the future it might be possible to follow the correct procedure simply by adding the portion of code that transforms the accelerometer data into displacement coordinates." So please, if you decide to implement it, just share your code :-)

Good luck!

[ppiibb]

@filipposanfilippo I meant, the accelerometer signals, you said you needed to integrate them twice to have the position signal but in the source code i was unable to locate that mathematical integration

[filipposanfilippo]

@ppiibb hi, I think that's definitely possible. There should be for sure some libraries. But what do you mean "where you integrated"?

[ppiibb]

Nice.. would it be possible to use C++ instead of processing? maybe with an osc library... also.. i looked at your code.. and couldnt find where you integrated can you please tell me?

[REA00002]

thanks for uploading this! ive been looking everywhere for the equations.