post some video!
I had 2 videos two videos around with the arm perfmong two different tasks but I don’t know what I did with them … I will to make some videos with another webcam because my dv camera is currently in bits - in an effort to adapt it to the arm I snapped one of the flexible cables – anyone has any idea how to fix such thing ? other then just reroute some 20 paths with separate wires ?
what would you say is the most difficult part of the project?
By far that was the mechanical part – specifically the gripper construction. Also challenging was to counterbalance the arms weight with springs and to put together/tune the slip sensor on the gripper.
what parts of the project arent up to your spec and you think needs improvement?
On the mechanical side I plan to replace to current tubular structure with rectangular shaped bars – that will give me better rigidity, more space for cables/electronics and provide a better heat dissipation medium for servos.
Also, I will like to replace the camera – I need a camera with high-speed auto-focus functionality. First I thought of using a dv camera the only issue is that most are to big for this arm – sure you can strip them apart and re-position the electronic in different parts of the arm – but then again that would mean even more cables around. Then I though of using a modified commercial digital camera which will also provide me with the ability of talking hires snapshots (which will help a lot with the ocr engine) – I will have to decide which is the best (size/quality/auto-focus speed) and it will be great if it has also an sdk available (like canon has).
I will also like to add another interface in the base to measure how much current every servo draws (or at least two of them at the shoulder and elbow) and use this to calculate the torque.
why did you choose to mount the camera on the arm instead of on the base mount?
I tough of that initially – having the camera on the base has some advantages – such as it could provide feedback more easily on the proximity to an object relative to the arm. On the other hand, if the camera moves with the arm gives it the capability to better analyze (close up) the object position, shape and/or read labels/bar codes which might not be properly visible from a fixed position.