Hi Nathan,
Just read your comments on Trig on the 'Pros and IK calcs.
I've just bought a used Scorbot robot arm :
http://rssc.org/content/my-scorbot-robot-armAnd the simple control program an driver box don't appear to support coordinated moves. The arm uses geared 12 V. pitman DC servo motors with modest (6 step) encoders. Typical Jointed Arm Revolute construction. While I'm OK on leg and arm IKs, this arm has belts that pass over pulleys out to the distal end (grippers), so there is a parallelogram action, i.e., the grippers tend to stay in the same aspect relative to the arm (same plane). That's a little different from most LM (R/C Servo) arms! I'd think one would just "add in" the angle of the previous joint to the distal joints. Is that right? Have you written code for these?
I'm considering driving the arm directly with RoboClaws and the Mad Hatter. That would be cool!
Alan KM6VV
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