Quick completion guide of manipulator (zero five): resources related to manipulator

           In the process of learning the six degree of freedom manipulator , I have collected all kinds of information related to it 、 Government documents 、 Source code 、 Literature, etc . meanwhile , The simulation program for the control of the manipulator and the program actually applied to the manipulator are also written . Now? , I have packed them all

1.ar2、ar3 And ar4 Six degree of freedom manipulator documentation and source code   among , The specific contents of the materials are ：

        This folder contains ar2、ar3 And ar4 Dimension parameters of the manipulator 、 Motor selection 、 Motor drive selection 、3D Model （ be used for 3D Print ） Upper computer source code and lower computer source code （ contains HEX file ）.

2. Schematic diagram and PCB The design

3. Upper computer code （python） And lower computer code （arduino）

         In the process of self-study , I'm interested in the important code （ Involving positive 、 Inverse kinematics calculation 、 Various trajectory planning and GUI Interface design ） Detailed comments have been added . such , You can save a lot of time understanding the meaning of the code .

4. Mechanical arm MATLAB Simulation program

         These simulation programs are written by me , It is also interspersed with a lot of comments , And it can generate the trajectory of the six degree of freedom manipulator and the motion characteristic curve of each joint ：

 5. Hardware design specification document of manipulator

        It includes the lower computer chip of the manipulator and the components used 、 Performance parameters of planetary deceleration stepping motor and limit switch , Easy to access .

6. Six degree of freedom manipulator books and teaching PPT

        Are some commonly used robotics related e-books .

7. Pictures in the design process 、 Documents and flow chart

        It's my theoretical analysis in the process of learning 、 Some pictures drawn in the process of program simulation and actual programming application , As shown in the figure below .

8. 6-DOF robot arm video tutorial

        It is convenient to quickly understand the application of manipulator , The only problem is that the subtitles are machine translated .