Author Topic: IK demystified :)  (Read 594 times)

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Offline totalisTopic starter

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IK demystified :)
« on: August 28, 2011, 09:30:42 AM »
After finding almost nothing on the web regards inverse kinematics and Hexapod legs i decided to make my own, I used a program called Blender to do the modeling and the code, which will eventually be used for the MCU to control all 6 legs :)

tl;dr post questions or other ideas that people want me to try to explain :)

Offline KurtEck

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Re: IK demystified :)
« Reply #1 on: August 28, 2011, 12:57:01 PM »
There are actually several places up on the web that talk about this.  Example:
http://forums.trossenrobotics.com/showthread.php?3497-Let-s-Discuss-Kinematics-Shall-We&highlight=inverse

Also at Lynxmotion, there is code for the hexapod Phoenix that uses IK. The original code for this was developed to run on the Basic Micro Basic Atom Pro by the member Xan.  Since then I have ported it to The Basic Atom Arc32 and later to Arduino and to Propellers.  There are several threads up on Lynxmotion (as well as code) for all of these platforms.  A lot of this code was based on the Excel spreadsheets that was done by the Lynxmotion/Trossen member Zenta, who built the original Phoenix, A-POD, T-HEX, ... You can find more information about these projects up on the Lynxmotion forums and project page: http://www.lynxmotion.com/images/html/proj098.htm

Kurt

Offline totalisTopic starter

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Re: IK demystified :)
« Reply #2 on: August 28, 2011, 02:27:54 PM »
Well ill be... I actually adapted (stole) the phoenix hexapod code because i couldnt find any code for AVR's...

Thank you very much, :)

T

Offline KurtEck

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Re: IK demystified :)
« Reply #3 on: August 28, 2011, 06:03:42 PM »
You are welcome.  Here is a thread up on Lynxmotion about the port to Arduino...
http://www.lynxmotion.net/viewtopic.php?f=20&t=6730

Note: I have a more up to date version that fixed some more issues/bugs, that I have not released yet. I have it running on a Beta Arduino board from Lynxmotion, which hopefully will be released soon. More up on the thread: http://www.lynxmotion.net/viewtopic.php?f=48&t=7469

Kurt

 


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