SCARA robot arm
 
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SCARA robot arm

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(@bldrgy)
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Joined: 2 years ago
Posts: 21
 

I have already done that. I have another Uno and I hooked it to that and used pin 10 and 11. I did the face recognition and had the coordinates in the serial monitor. 

I need help with the best location to wire the Husky to the CNC shield to run the stepper motors. 


   
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Ron
 Ron
(@zander)
Father of a miniature Wookie
Joined: 4 years ago
Posts: 7334
 

@bldrgy Sorry, no idea. I don't have any shields or stepper motors.

First computer 1959. Retired from my own computer company 2004.
Hardware - Expert in 1401, and 360, fairly knowledge in PC plus numerous MPU's and MCU's
Major Languages - Machine language, 360 Macro Assembler, Intel Assembler, PL/I and PL1, Pascal, Basic, C plus numerous job control and scripting languages.
My personal scorecard is now 1 PC hardware fix (circa 1982), 1 open source fix (at age 82), and 2 zero day bugs in a major OS.


   
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(@bldrgy)
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Joined: 2 years ago
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@zander thanks Ron!


   
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robotBuilder
(@robotbuilder)
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Posted by: @bldrgy

I need help with the best location to wire the Husky to the CNC shield to run the stepper motors. 

Not sure what you mean by "best location to wire the Huskylens to the shield?

Is this the shield you are using?

I should have made the post title "SCARA robot arm and Huskylens" but can't change it now without starting a new post.

From what I have read online I don't see Huskylens returning the orientation of an object?

 


   
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(@bldrgy)
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Posted by: @robotbuilder
Posted by: @bldrgy

I need help with the best location to wire the Husky to the CNC shield to run the stepper motors. 

Not sure what you mean by "best location to wire the Huskylens to the shield?

What Pins should I use to connect the communication wires to the shield? I will post the wiring diagram of the shield as it is now. 

Is this the shield you are using?

yes that is it.

I should have made the post title "SCARA robot arm and Huskylens" but can't change it now without starting a new post.

From what I have read online I don't see Huskylens returning the orientation of an object?

No I don’t think it will. That’s why if I can catch it with the grippers, it would always be close to the same location in the robot grippers every time. Then I could code the robot to make another movement to place it where I need it. Hope that makes sense.

EFD193A9 0DE5 475A B3C0 BE6077D8F5EF

 

 

 


   
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robotBuilder
(@robotbuilder)
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@bldrgy 

What Pins should I use to connect the communication wires to the shield? I will post the wiring diagram of the shield as it is now.

The videos I have seen connect the Arduino to a PC via the Serial Port (USB).

The shield probably uses all the pins or at least the same ones as Bill's connections for the Huskylens. I would have to have the shield to inspect what is or is not connected. Maybe pins 0 and 1 (RX,TX) are not connected to the shield.

The Huskylens, if I remember correctly, used the Ardunio IDE Monitor program. The SCARA robot I looked at had a program written in the Processing language and in another video some other special program.

So you want to get input data from the Huskylens (position) and send that to the SCARA arm software that makes all the move decisions. I don't know if you can connect to a single PC using two USB ports, one for the Huskylens and the other for the SCARA arm?

setup

   
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robotBuilder
(@robotbuilder)
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@bldrgy 

Just for fun I thought I might play around with how I would get the data from images using my own software and a webcam. Example input images below, one from an angle and another from above.

brackets

 


   
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Oracid
(@oracid)
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Joined: 5 years ago
Posts: 18
 
Posted by: @zander

It's simple to fix, just move the code up one level.

I don't understand what it is about. I think you are overestimating my Arduino skills. In fact, I suck.
Currently I am using Arduino IDE 1.8.15.
Anyway, I don't have this type of problem with my HuskyLens, but thanks for the information, I take note of all this and put it in the back of my mind.


   
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(@bldrgy)
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Joined: 2 years ago
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Posted by: @robotbuilder

@bldrgy 

What Pins should I use to connect the communication wires to the shield? I will post the wiring diagram of the shield as it is now.

The videos I have seen connect the Arduino to a PC via the Serial Port (USB).

The shield probably uses all the pins or at least the same ones as Bill's connections for the Huskylens. I would have to have the shield to inspect what is or is not connected. Maybe pins 0 and 1 (RX,TX) are not connected to the shield.

The Huskylens, if I remember correctly, used the Ardunio IDE Monitor program. The SCARA robot I looked at had a program written in the Processing language and in another video some other special program.

So you want to get input data from the Huskylens (position) and send that to the SCARA arm software that makes all the move decisions. I don't know if you can connect to a single PC using two USB ports, one for the Huskylens and the other for the SCARA arm?

I assume it would be simpler to use the Huskylens example code and add to it for positioning of the robot?? Collecting data from Huskylens then sending it to the current processing language seems a little clunky. Your thoughts?

setup

 


   
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Oracid
(@oracid)
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Posts: 18
 

What I do, is often this :

- The PC is connected to the Nano usb connector.
- The Arduino Nano is clipped on a shield.
- The Arm is connected to the shield digital pins.
- The HuskyLens is connected to the shield I2C connector.

So, you need one Nano and one shield. And, that's it !

Here some links:
- Nano, (the blue) https://fr.aliexpress.com/item/1005001636568464.html?gatewayAdapt=glo2fra&spm=a2g0o.order_list.0.0.21ef5e5bv5zbiU
- shield, https://fr.aliexpress.com/item/33063354279.html?gatewayAdapt=glo2fra&spm=a2g0o.order_list.0.0.21ef5e5bv5zbiU
- power connector, https://fr.aliexpress.com/item/1005003727778592.html?spm=a2g0o.order_list.0.0.75ae5e5bUAq76l&gatewayAdapt=glo2fra

Bellow, an example.

DSC 3729 L

   
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Ron
 Ron
(@zander)
Father of a miniature Wookie
Joined: 4 years ago
Posts: 7334
 

@oracid Congrats on assembling your kit!

First computer 1959. Retired from my own computer company 2004.
Hardware - Expert in 1401, and 360, fairly knowledge in PC plus numerous MPU's and MCU's
Major Languages - Machine language, 360 Macro Assembler, Intel Assembler, PL/I and PL1, Pascal, Basic, C plus numerous job control and scripting languages.
My personal scorecard is now 1 PC hardware fix (circa 1982), 1 open source fix (at age 82), and 2 zero day bugs in a major OS.


   
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Ron
 Ron
(@zander)
Father of a miniature Wookie
Joined: 4 years ago
Posts: 7334
 

@bldrgy Every robotic or artificial vision system I have seen the re-orientation is done in software. The reason is it is faster and has to be done prior to moving any robotic parts anyway so may as well save the time.

First computer 1959. Retired from my own computer company 2004.
Hardware - Expert in 1401, and 360, fairly knowledge in PC plus numerous MPU's and MCU's
Major Languages - Machine language, 360 Macro Assembler, Intel Assembler, PL/I and PL1, Pascal, Basic, C plus numerous job control and scripting languages.
My personal scorecard is now 1 PC hardware fix (circa 1982), 1 open source fix (at age 82), and 2 zero day bugs in a major OS.


   
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Oracid
(@oracid)
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Joined: 5 years ago
Posts: 18
 

Thank you @zander

Sorry @bldrgy, I just realized that you have stepper motors instead of servos.

But things are very similar about connecting. Here is another and more suitable shield which has too a compact I2C connector : Keyestudio – panneau de bouclier CNC V4.0 pour Arduino Nano | AliExpress


   
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robotBuilder
(@robotbuilder)
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Joined: 5 years ago
Posts: 2045
Topic starter  

@bldrgy 

I assume it would be simpler to use the Huskylens example code and add to it for positioning of the robot?? Collecting data from Huskylens then sending it to the current processing language seems a little clunky. Your thoughts?

The Huskylens will apparently provide the position of an object but then you have to compute the stepper movements required by the SCARA arm and I am not sure if the required computations can be done in the Arduino alone.

This might help you, or someone with the know how on the forum, to work out a solution to connect the Huskylens to an Arduino with the cnc shield attached.

https://osoyoo.com/2017/04/07/arduino-uno-cnc-shield-v3-0-a4988/

I read that "The Huskylens can communicate using I2C or SPI communication."

On the CNC Shield serial Pins (D0-1) and I2C Pins (A4-5) have their own break out pins for future extensions.

 


   
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(@bldrgy)
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Joined: 2 years ago
Posts: 21
 
Posted by: @oracid

What I do, is often this :

- The PC is connected to the Nano usb connector.
- The Arduino Nano is clipped on a shield.
- The Arm is connected to the shield digital pins.
- The HuskyLens is connected to the shield I2C connector.

So, you need one Nano and one shield. And, that's it !

Here some links:
- Nano, (the blue) https://fr.aliexpress.com/item/1005001636568464.html?gatewayAdapt=glo2fra&spm=a2g0o.order_list.0.0.21ef5e5bv5zbiU
- shield, https://fr.aliexpress.com/item/33063354279.html?gatewayAdapt=glo2fra&spm=a2g0o.order_list.0.0.21ef5e5bv5zbiU
- power connector, https://fr.aliexpress.com/item/1005003727778592.html?spm=a2g0o.order_list.0.0.75ae5e5bUAq76l&gatewayAdapt=glo2fra

Bellow, an example.

DSC 3729 L

This is the shield I have see questions on picture.

4383467A FECC 4BB6 947E 97F35425634B

 


   
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