ECE 417 --- ROBOTICS
Lab 5, Spring 2021
In this lab you will have the robot move to points directed by the user. You will add the following routine to the ones previously developed.
Write a routine which will move the robot from one set of desired joint
angles to another. Because the robot is controlled by giving it a number
of steps, the current position of each joint should be kept track of at all
times. Also, joint motions on the Lab-Volt robot are not independent:
instructing the shoulder to move causes the elbow and wrist to move, and instructing
the elbow to move causes the wrist to move. See Information
on movement for the Lab-Volt robots for more information. To test this routine, your main program
should accept a set of joint angles, and the robot should be instructed to
move there. It should then accept a new set of joint angles and then move
there (keep repeating). Do not return to home between moves.
The joints should move simultaneously for each instructed move.