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https://github.com/jshulgach/mini-arm
MicroPython-based Mini Arm robot controller with TCP/IP and Serial communication supported
https://github.com/jshulgach/mini-arm
pico python robotarm wifi
Last synced: 3 days ago
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MicroPython-based Mini Arm robot controller with TCP/IP and Serial communication supported
- Host: GitHub
- URL: https://github.com/jshulgach/mini-arm
- Owner: Jshulgach
- License: mpl-2.0
- Created: 2023-03-18T19:58:49.000Z (almost 2 years ago)
- Default Branch: main
- Last Pushed: 2024-12-23T06:21:42.000Z (11 days ago)
- Last Synced: 2024-12-23T07:23:37.041Z (11 days ago)
- Topics: pico, python, robotarm, wifi
- Language: Python
- Homepage:
- Size: 43.5 MB
- Stars: 2
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
[](https://opensource.org/licenses/MIT)
# Mini-Arm
The Mini Arm is a miniature version of the [Desktop-Arm](https://github.com/Jshulgach/Desktop-Arm) project with IK solver inspirations from [Alberto Abarzua](https://github.com/alberto-abarzua/3d_printed_robot_arm) and [Mithi Sevilla](https://github.com/mithi/arm-ik), a portable 6DOF 3D-printed robot arm with open-source models and code.
Robot DH paramater numerical calculations referenced from:
- [Mithi Sevilla](https://github.com/mithi/arm-ik)
- [Zenetio](https://github.com/zenetio/RoboND-Kinematics-Project)
- [Ohara124c41](https://github.com/Ohara124c41/RoboND-Kinematics-Kuka-KR210).
- [NitishPuri](https://github.com/NitishPuri/RoboND-Kinematics-Project/)
This package does NOT use any symbolic math packagaes, only numpy, which makes this scalable to microcontrollers with the same kinematic configuration!
While this little machine can run on a 5V 2A DC adapter, it has other cool features:
+ Runs CircuitPython on a Raspberry Pico W (wifi operated)
+ All 3D printable components (aside from nuts & bolts)
+ Total cost of hardware less than $60
+ Weighs less than 1lb (0.3kg to be exact)
+ Capacity to integrate more features
# Where to start ?
This Github repository contains Installation and Quick Start instructions for the Mni Arm project.
Table of Contents
---
+ [Hardware](#hardware)
+ [Raspberry Pico W Installation](#rpi-installation)
+ [Quick Start](#quick-start)
---
1. Building the arm
+ The full list of parts needed to assemble the arm can be found in the [B.O.M](https://github.com/Jshulgach/Desktop-Arm/blob/master/doc/bom.xlsx).
+ Files for 3D printing can be found on [HowToMechatronics](https://thangs.com/designer/HowToMechatronics/3d-model/Robotic%20Arm%203D%20Model-38899) with [assembly instructions](https://howtomechatronics.com/tutorials/arduino/diy-arduino-robot-arm-with-smartphone-control/)
2. Electrical wiring
---
## Raspberry Pico W Software Installation:
These install instructions were tailored using a Windows 10 OS. There are also setup instructions for [Ubuntu](https://www.gibbard.me/using_the_raspberry_pi_pico_on_ubuntu/) and the [Raspberry Pi](https://www.tomshardware.com/how-to/raspberry-pi-pico-setup) too. There's also support for [ROS](https://ubuntu.com/blog/getting-started-with-micro-ros-on-raspberry-pi-pico) if you want a challenge...
If plugging in your Pico for the first time, it should appear in your PC in boot mode with a couple files. You will need to install the CircuitPython UF2 file onto the Pico W.
1. Move the included CircuitPython (8.4.0) UF2 file into the Pico drive.
+ The Pico should reboot and display new files after dropping the uf2 file into the drive.
3. Flash code and libraries to Pico
+ Move the `lib` folder, `settings.toml` and `code.py` files from the `Mini-Arm` package directly into the Pico drive. This will flash the Pico with the code and libraries.
3. Configure communication with your Min Arm (USB or TCP/IP).
+ For USB Serial communication, it's ready as-is! Just plug a USB cable into the port exposed on the side.
+ For Wifi/Network usage, configure your network credentials in the `settings.toml` file and change the `COMM_TYPE` to NETWORK. You can use a serial console to see the host IP. There are several editors with CircuitPython or MicroPython support (Thonny, Pycharm, VSCode) but the easiest method I found was using PuTTY. Connect to the Pico with the assigned COM port, and press `Ctrl+d` to restart the code.
The arm should be good to go!
Note: You can also download the latest version of [CircuitPython](https://circuitpython.org/board/raspberry_pi_pico/) intead of using the provided version, the only risk being minor bugs caused by differences is versions. The Adafruit website has a guide on [getting started with CircuitPython](https://learn.adafruit.com/getting-started-with-raspberry-pi-pico-circuitpython/circuitpython).
## Quick Start
When the arm first turns on, the LED will change to green to indicate successful connection to the network. A blue light indicates a successful connection to the server with a client. Open the `xbox-client.py` file and set `COMM_TYPE` to the same type set for Mini Arm in the `settings.toml` file. Plug in a controller, open a terminal in the directory containing the `xbox-client.py` file, then run the python file:
```
python xbox-client.py
```
### Robot controller commands
Sending commands to either the TCP/IP server or serial to the robot requires an encoded string message. The commands currently supported are below:
| Name | Parameters | Description |
| ------------------------ | ---------------------------------------- | ------------------------------------------------------------------- |
| movemotor | MOTOR VALUE | Moves motor number MOTOR to absolute position VALUE (deg) |
| movemotors | [VAL1,VAL2,VAL3,VAL4,VAL5,VAL6] | An array containing values for each motor. Moves all the motors at once to the values included in the array from base-to-gripper |
| play | SONGNAME | Plays a tune from the selected SONGNAME if in the library |
| pose | [X, Y, Z, ROLL, PITCH, YAW] | Moves the end effector to an absolute coordinate pose frame with respect to the world frame. It is helpful to know where the robot EE frame is. |
| delta | [X, Y, Z, ROLL, PITCH, YAW] | Displaces the end effector from its current pose given the displacement values |
| robotinfo | none | Gives back information about the robot's current pose and joint state |
| gripper | VALUE | Moves the gripper based on the input received |
| debugon | none | Enables verbose feedback outputs for debugging |
| debugoff | none | Disables verbose feedback outputs for debugging |
### Serial Control
TO-DO
### TCP/IP Control
---
Robot control is done through the Unity version of the "AJ" GUI v1 (Link coming soon), or an SSH terminal to the robot. FOR TCP/IP, quickest way using a python terminal:
```
import socket
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect(("YOUR-ROBOT_IP",1000))
```
Send a command like an sbsolute position [x, y, z, roll, pitch, yaw], where cartesian coordinates are in mm and orientation is in degrees:
```
s.send(b"pose [1755, 0, 2660, 0, 0, 0]")
```
Or open the gripper:
```
s.send(b"gripper 180")
```
The arm has a very limited library of themes (starwars or mii), but enjoyable nonetheless. Play a sound file by passing the name:
```
s.send(b"play mii")
```
## License
Copyright 2022-2023 [Jonathan Shulgach](https://www.linkedin.com/in/jonathan-shulgach/)
This Source Code Form is subject to the terms of the Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with this file, you can obtain one at https://mozilla.org/MPL/2.0/.
[uf2]: (https://fileinfo.com/extension/uf2)
[CircuitPython]: (https://circuitpython.org/)
[PuTTY]: (https://putty.org/)