ARDUINO WEB CONTROLLED ROBOTIC ARM
The movement of the robot arm can be controlled by a computer via the internet.This robot can be used to demonstrate that a robot can be used inside a home for
daily human chores. The robot is controlled by Arduino Uno that interfaced with the internet using Arduino WiFi Shield.
COMPONENTS REQUIRED:-
1:- Arduino UNO
It is like a brain of the robot, with the help of this board we can make different DIY
projects like electronic, mechanical, automation etc projects. Arduino UNO works
on C and C++ language called Arduino IDE. Technically Arduino UNO is an open
source electronic based hardware and software platform, it is easy to use. Arduino
UNO boards are able to read digital and analogs inputs as well, sensors, a finger on
buttons & turn it into an output - activate motors, turning on LEDs and many more.
2: 6DOF Robot Arm
Robot Arm is used to do specific repetitive task. It used in many industrial
applications. It is designed to perform any desired task such as welding,
placing, gripping, spinning, rotating boxes etc depending on the
application such as in manufacturing plant for welding, in production for
assembling etc. You can buy it onlinec
3: WiFi shield
WiFi Module is a self contained SOC with integrated TCP/IP protocol stack
which can give access to microcontroller for your WiFi network.
The Arduino WiFi shield allows an Arduino UNO board to connect to the
internet.
4: Connections
5:- CODE
#include "SPI.h"
#include "Phpoc.h"
#include <Servo.h>
int angle_init[] = {90, 101, 165, 153, 90, 120};
int angle_offset[] = {0, 11, -15, -27, 0, 137};
int cur_angles[] = {90, 101, 165, 153, 90, 120};
int dest_angles[] = {0, 0, 0, 0, 0, 0};
int angle_max[] = {180, 180, 160, 120, 180, 137};
int angle_min[] = { 0, 0, 0, 20, 0, 75};
int direction[] = {1, 1, 1, 1, 1 ,-1};
int angleSteps[] = {3, 2, 2, 2, 4 ,4};
Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4;
Servo servo5;
Servo servo6;
Servo servo[6] = {servo1, servo2, servo3, servo4, servo5, servo6};
PhpocServer server(80);
PhpocClient client;
int stepNum = 0;
void setup(){
Serial.begin(9600);
Phpoc.begin(PF_LOG_SPI | PF_LOG_NET);
server.beginWebSocket("remote_arm");
servo1.attach(2);
servo2.attach(3);
servo3.attach(4);
servo4.attach(5);
servo5.attach(6);
servo6.attach(7);
for(int i = 0; i < 6; i++)
servo[i].write(angle_init[i]);
}
void loop() {
PhpocClient client = server.available();
if(client) {
String angleStr = client.readLine();
if(angleStr) {
Serial.println(angleStr);
int commaPos1 = -1;
int commaPos2;
for(int i = 0; i < 5; i++) {
commaPos2 = angleStr.indexOf(',', commaPos1 + 1);
int angle = angleStr.substring(commaPos1 + 1, commaPos2).toInt();
dest_angles[i] = angle * direction[i] + angle_offset[i];
commaPos1 = commaPos2;
}
int angle5 = angleStr.substring(commaPos1 + 1).toInt();
dest_angles[5] = angle5 * direction[5] + angle_offset[5];
stepNum = 0;
for(int i = 0; i < 6; i++) {
int dif = abs(cur_angles[i] - dest_angles[i]);
int step = dif / angleSteps[i];
if(stepNum < step)
stepNum = step;
}
}
}
if(stepNum > 0) {
for(int i = 0; i < 6; i++) {
int angleStepMove = (dest_angles[i] - cur_angles[i]) / stepNum;
cur_angles[i] += angleStepMove;
if(cur_angles[i] > angle_max[i])
cur_angles[i] = angle_max[i];
else if(cur_angles[i] < angle_min[i])
cur_angles[i] = angle_min[i];
servo[i].write(cur_angles[i]);
}
stepNum--;
delay(20);
}
}
