This is the final program of ISDN 2601

In this project, I use inverse Kinematics(IK) to calculate the rotation of the arm's joints and use the arm actuator program to apply the calculation results.

Since we are moving blocks from fixed areas, I modified my program to be coordinately oriented.

According to my previous findings, there should be three modes to reach the target coordinate. The angle between the claw and the ground is 180, 90, and 135. Since we are using the claw to the other side of the coordinate, there should be six modes instead. Some of them might be useless. I’ll delete them later.

The logic flow of the program should look like this:

  1. The user input the sequence of the fixed locations
  2. A for loop to control the input and place function
  3. The intake and place functions and the location read function input the coordinate to the calculation function.
  4. The calculation function read the coordinate and sign them to different modes of IK.
  5. The polar coordinate function decides the angle of rot1 and the sign of other angels.
  6. The Cartesian coordinate function calculates the rest of the angels.
  7. Check the function to decide whether the mode is valid.
  8. The arms control function to control the arm of the target position.

The following section is the codes: