woodRock / scara-arm

The Selective Compliance Assembly Robot Arm (SCARA) was a drawing tool that could be programmed to draw an SVG image. The machine consisted of two articulated joints, connected to a pen. Direct and inverse kinematics are used to calculate the voltage required to move the arms into the desired position. The firmware for the arm was written using Java. Additionally, there was a simulation of the arm, such that the functionality could be tested remotely.

ENGR110-SCARA

Details

The project includes firmware to simulate and control a robotic arm. The arm was controlled using a RasberryPi through PWM.

Maven

This project is a refactored and production version of a first year engineering project. The Maven framework has been added to the project. This allows the project to easily be installed and tested on other machines.

N.B. This maven commands must be run in the JavaSimulation directory.

Configuration

Before we install the jar, we must add the ecs100 3rd party jar.

$ mvn install:install-file -Dfile=../ecs100.jar -DgroupId=nz.ac.ecs -DartifactId=ecs100 -Dversion=1.0 -Dpackaging=jar

Installation

This command creates two jars in the target folder.

$ mvn clean install

Run

To run the application we need to use the jar with dependencies.

The scara-X.Y-jar-with-dependencies.jar is located in the target folder.

$ java -jar target/scara-2.0-jar-with-dependencies.jar