In this repository, steppers motors are synchronized to control 6DOF manipulator for assistive robot applications using <MultiStepper.h> and <AccelStepper.h> libraries. In addition, MATLAB-Arduino communication is set in order to send the kinematics solution to the robot. Moreover, special functions are implemented such as joints calibration, homing, and end position.
Here is a brief for the implementation. Full demo is attached here.
The program has the following functions:
- Robot Joints Coordinated Movement (Stepper motors synchronization)
- MATLAB Communication
- Joints Calibration
- Robot Homing
- End-Position (CG position)
Full demo is attached here.