Testing wireless inverse kinematics

Testing wireless inverse kinematics code on the small scale prototype arm.Inverse kinematics allows us to control the arm by inputting the desired location of the end of the arm. Then the microcontroller calculates and sends the servo angles necessary to get the end of the arm to the desired location.

The testing control station consist of a 4 way joystick, 2 buttons, solderless breadboard, Arduino Mega 2560, XBee shield and a Series 1 XBee.

The arm station consist of a Lynxmotion AL5D, Arduino Mega 2560, XBee shield and a Series 1 XBee.

Code for the arm’s end effector (gripper) will be up and running soon.