[4 / 1 / ?]
Quoted By: >>7616297
/sci/, I come to you seeking engineering help.
I'm into hobby electronics, and I'm having a bit of trouble messing around with my 2-piece robotic arm.
Essentially, my dilemma is that I want to have the tip of my arm draw a straight line, where the height of the tip (relative to the ground) stays constant. The problem is that I don't know how to run the motors on each degree of freedom such that it does this properly.
I did some trig and tried to come up with a ratio for how fast motor 2 would have to run relative to motor 1, but when I tried testing other angles (where A1 wasn't 0, and where A1 /=/ A2), it didn't give me the right height. That means that each motor has to accelerate its spin-rate throughout the arm's motion, but by how much?
Are there any equations that can tell me, given the lengths of both parts of my arm and the height I want to 'draw' the line at, how fast I need to accelerate each motor?
Pic related. ms paint
I'm into hobby electronics, and I'm having a bit of trouble messing around with my 2-piece robotic arm.
Essentially, my dilemma is that I want to have the tip of my arm draw a straight line, where the height of the tip (relative to the ground) stays constant. The problem is that I don't know how to run the motors on each degree of freedom such that it does this properly.
I did some trig and tried to come up with a ratio for how fast motor 2 would have to run relative to motor 1, but when I tried testing other angles (where A1 wasn't 0, and where A1 /=/ A2), it didn't give me the right height. That means that each motor has to accelerate its spin-rate throughout the arm's motion, but by how much?
Are there any equations that can tell me, given the lengths of both parts of my arm and the height I want to 'draw' the line at, how fast I need to accelerate each motor?
Pic related. ms paint
