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--- lego_dynamixel_2d_plotter [2019/04/23 22:05] – ntorresreyes
+++ lego_dynamixel_2d_plotter [2019/04/26 20:11] (current) – removed ntorresreyes
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-====== LEGO 2D Plotter with Dynamixels (IN PROGRESS) ======
-**Author:** Norberto Torres-Reyes Email: torresre@unlv.nevada.edu
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-**Date:** Last modified on 04/23/19
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-**Keywords:** kinematics, planar, robotic arm, 2 link, lego, NXC, NXT, mindstorm, dynamixel, plotting
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-=====Motivation and Audience=====
-This tutorial is for anyone who wishes to create a 2-link plotting robotic arm using LEGO Mindstorm, NXC software, and Dynamixel RX-28 servos. This tutorial will also reinforce theoretical knowledge about 2-link planar mechanisms, serial communication, and servo control. Readers of this tutorial are recommended to have the following background and interests:
-<fc blue>
-  *Previous experience with LEGO Mindstorm
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-  *Matlab and/or C-based programming experience
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-  *Knowledge of linear algebra
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-  *Some knowledge in serial communcation
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-  *Experience with using servos
-</fc>
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-The rest of the tutorial is presented as follows:
-  *[[lego_dynamixel_2d_plotter#parts list|Parts List]]
-  *[[lego_dynamixel_2d_plotter#theoretical background|Theoretical Background]]
-  *[[lego_dynamixel_2d_plotter#build plans|Build Plans]]
-  *[[lego_dynamixel_2d_plotter#nxt brick code|NXC Code]]
-  *[[lego_dynamixel_2d_plotter#running, testing and analysis|Running, Testing and Analysis]]
-  *[[lego_dynamixel_2d_plotter#conclusions|Conclusions]]
-====Parts List====
-A few parts for controlling the Dynamixels will be needed along with some parts used to communicate between the NXT Brick and the Dynamixel. The LEGO parts list is shown in the [[lego_dynamixel_2d_plotter#build plans|Build Plans]] section.
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-**Dynamixel RX28**
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-https://www.trossenrobotics.com/dynamixel-rx-28-robot-actuator.aspx
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-{{:torres:tutorials:nxt_dynamixel:capture4.jpg?nolink&300|PHOTO}}
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-**Lego BreadBoard Adapter**
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-http://www.mindsensors.com/ev3-and-nxt/58-breadboard-connector-kit-for-nxt-or-ev3
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-{{:torres:tutorials:nxt_dynamixel:capture5.png?nolink&300|}}
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-**SMPS2Dynamixel**
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-http://www.robotis.us/smps2dynamixel/
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-{{:torres:tutorials:nxt_dynamixel:capture6.jpg?nolink&300|PHOTO}}
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-**(Optional) HiLetgo USB Logic Analyzer**
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-https://www.amazon.com/gp/product/B077LSG5P2/ref=ppx_yo_dt_b_asin_title_o00_s00?ie=UTF8&psc=1
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-{{:torres:tutorials:nxt_dynamixel:capture7.jpg?nolink&300|PHOTO}}
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-Other Parts Needed:
-   *NXT Cable
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-{{:torres:tutorials:nxt_dynamixel:capture8.jpg?nolink&300|}}
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-   *Dynamixel Connector Cables
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-{{:torres:tutorials:nxt_dynamixel:capture9.jpg?nolink&300|}}
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-   *USB A-to-C cable
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-{{:torres:tutorials:nxt_dynamixel:capture10.png?nolink&300|}}
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-   *12V 2-Amp Power Supply
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-{{:torres:tutorials:nxt_dynamixel:capture11.jpg?nolink&300|}}
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-====Theoretical Background====
-The theoretical background pertaining to this tutorial includes [[lego_dynamixel_control|NXT/Dynamixel]] communication and [[2_link_kinematics|2-Link 2D kinematics]]. A review of these two tutorials will provide theoretical and practical knowledge for the reader in topics such as RS485 serial communication, NXT control of Dynamixels, 2-link planar kinematics, and geometric/algebraic solutions to inverse kinematics.
-====Build Plans====
-The build plans as well as the parts list are included below.
-====NXC Code====
-====Running, Testing and Analysis====
-====Conclusions====