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The 6 Axis Robotic Arm Working Script Included

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Here's a video of the 6 axis arm moving very fast yet gently picking up a lid and placing it on a bottle.

It does produce EZ-B brownouts after prolonged use after putting it back and forth a few times.

Here's the EZ-Script source code to make this happen:


ServoSpeed (d7, 0)
ServoSpeed (d2, 0)
ServoSpeed (d3, 0)
ServoSpeed (d4, 0)
ServoSpeed (d5, 0)
ServoSpeed (d6, 0)
#park arm:
$t=200
servo(d7,50)
sleep($t)
servo(d2,13)
sleep($t)
servo(d3,1)
sleep($t)
servo(d4,97)
sleep($t)
servo(d5,1)
sleep($t)
servo(d6,50)
sleep($t)
Release (d7)
Release (d2)
Release (d3)
Release (d4)
Release (d5)
Release (d6)
sleep(500)

# arm up
servo(d7,50)
sleep($t)
servo(d2,50)
sleep($t)
servo(d3,50)
sleep($t)
servo(d4,50)
sleep($t)
servo(d5,1)
sleep($t)
# below closes claw
servo(d6,80)
sleep($t)
Release (d7)
Release (d2)
Release (d3)
Release (d4)
Release (d5)
Release (d6)
sleep(500)

#Grab Lid
# below Opens claw
servo(d6,50)
sleep($t)
servo(d7,50)
sleep($t)
servo(d2,67)
sleep($t)
$t=500
servo(d3,14)
sleep($t)
servo(d4,69)
sleep($t)
ServoSpeed (d7, 5)
ServoSpeed (d2, 5)
ServoSpeed (d3, 5)
ServoSpeed (d4, 5)
ServoSpeed (d5, 5)
ServoSpeed (d6, 5)
servo(d5,1)
sleep($t)
servo(d6,87)
sleep($t)
sleep(500)

$t=500

# Lift Lid
servo(d7,50)
sleep($t)
servo(d2,50)
sleep($t)
servo(d3,32)
sleep($t)
servo(d4,48)
sleep($t)
servo(d5,1)
sleep($t)
# below closes claw
#servo(d6,80)
sleep($t)
sleep(500)

#put lid on bottle...
sleep($t)
servo(d7,2)
sleep($t)
servo(d2,75)
sleep($t)
servo(d3,1)
sleep($t)
servo(d4,49)
sleep($t)
servo(d5,1)
sleep($t)
servo(d6,49)
sleep($t)

#Put Lid Down
# below Opens claw
#servo(d6,50)
sleep($t)
servo(d7,50)
sleep($t)
servo(d2,67)
sleep($t)
servo(d3,14)
sleep($t)
servo(d4,69)
sleep($t)
servo(d5,1)
sleep($t)
servo(d6,49)
sleep($t)

#park arm:
$t=700
servo(d7,50)
sleep($t)
servo(d2,13)
sleep($t)
ServoSpeed (d7, 0)
ServoSpeed (d2, 0)
ServoSpeed (d3, 0)
ServoSpeed (d4, 0)
ServoSpeed (d5, 0)
ServoSpeed (d6, 0)
$t=200
servo(d3,1)
sleep($t)
servo(d4,97)
sleep($t)
servo(d5,1)
sleep($t)
servo(d6,50)
sleep($t)
Release (d7)
Release (d2)
Release (d3)
Release (d4)
Release (d5)
Release (d6)
sleep(500)
servo(d7,50)
sleep($t)
servo(d2,13)
sleep($t)
servo(d3,1)
sleep($t)
servo(d4,97)
sleep($t)
servo(d5,1)
sleep($t)
servo(d6,50)
sleep($t)
Release (d7)
Release (d2)
Release (d3)
Release (d4)
Release (d5)
Release (d6)
sleep(500)

$t=500
#Get lid From bottle...
servo(d6,49)
sleep($t)
servo(d7,2)
sleep($t)
servo(d2,75)
sleep($t)
servo(d3,1)
sleep($t)
servo(d4,49)
sleep($t)
servo(d5,1)
sleep($t)
servo(d6,88)
sleep($t)
halt()

Best,

Bill

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#1  

That is awesome,

If you slow it down a bit..would you see the same brownout issue? While I like fast...I would think you would like the brownouts less.

v/r

Kevin

#2  

Wow kkeast , where ya been man?

#4  

hey guys.....glad to be back....been 'one crazy summer' and not like the movie (I wish). Gotta get back into the bots.....I have been neglecting them...I did pick up a Raspberry Pi......lots of promise with that little thing.....

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