🌟 A Simple Open Loop Robotic Motion (SCARA robot) Library

• This Arduino library will move the SCARA robot's end effector from one point to another in a smooth motion.

🤖 Brief Description

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This library is designed to move all the robotic links gracefully according to the time specified by the user.

Such motion is achieved by controlling the time intervals to move each step of the stepper motors using trapeziodal velocity profile (working principle in Section 4).

🧰 Getting Started

‼️ Prerequisites

• Designed for this type of SCARA robot with this specifications (Section 2).
• Requires Arduino microcontrollers. (Tested on Arduino Uno and Mega)
• Designed for stepper motors which actuate the robotic links.
• Requires stepper motor drivers like DRV8825, A4988, or any similar drivers which utilize square wave signals to drive the motors.

🏃 Using the library

This page consists of the steps required to use this library with its details in the header file.

🧪 Examples

• simple example.ino is just a simplified code to showcase the use of this library.

• demo.ino is the project in this video, and its schematic diagram is here.

💎 Credits

Big thanks to

• My university coursework's partners in building the hardware.
• Idegraaf, the creator of this SCARA robot, for open-sourcing it.
• Sw-tcNet for the gripper design.

📜 Version History

• 1.0.0
  • Initial Release

⚠️ License

This project is licensed under the Apache-2.0 license - see the LICENSE.md file for details.