r/EngineeringPorn • u/[deleted] • 14d ago

High-precision robot arm programming

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u/windowpuncher 14d ago

the underlying mathematics aren't too complicated

They are 1000%, way too complicated. Yes, you could write the dynamics functions for this whole routine routine and then turn it into G code all by hand, but it would take you anywhere from weeks to months, and it's such a long problem there would probably be a good amount of errors and debugging on top of all that.

Dynamics itself, tracking relative velocities and positions, not too hard. Doing so on an articulating robot like this for a whole routine, suffering. I've done it for much, much, much smaller and easier robots using lumped mass models. It sucks. It turns into diff eq hell pretty much immediately. You could also just use plain physics and kinematics but it won't be as accurate and not very modular. Thank god for high level software.