So I set about acquiring, assembling, and getting a 4dof (degree of freedom) arm attached. It is neither powered nor operational today, but I am in the process of understanding the art of Inverse Kinematics.
While at rest, the arm is tucked up and out of the way. It rests mechanically upon itself so I can remove power. It is not very clear in this image, but the arm at rest does not block either the front Sharp IR Sensor nor the OSLRF range finder.
- Electrical current sensor on the 5v rail feeding the servos to ensure that we do not damage them with weight.
- Tactile Pressure Sensor or Flex Sensor on the fingers to grip the glass.
- Accelerometer so we don't spill the wine.
- And of course rubber grips.
Please let me know if you know of any good resources I should be looking at, or any "must have" sensory feedback I must include.
I will be updating this post over the next few weeks as this gets hooked up and active.
Wikipedia: Inverse Kinematics
Wikipedia: Degrees of Freedom
LearnAboutRobots: Robot Inverse Kinematics
Society of Robots: Robot Arm Tutorial
Robotic Arm Inverse Kinematics on Arduino (with sample code)
CMU.EDU: Mathematics of Inverse Kinematics