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Bezier Spline Interpolation For Servo Motion Control Using 18F1330


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I posted few new projects here (try Chrome if the pictures don't show up) :

 

https://www.sites.google.com/site/tedrossin/home/electronics/pic

 

There are a couple videos of a Lynx Motion AL5D robot arm being driven by a single PIC which controls the servos and walks the spline by doing some math on the fly. The PC just sends the spline parameters and a step rate to get from the current position to the next position. The PIC has a little software FIFO so that the PC is a few positions (key frames) ahead. The PC and PIC handshake for FIFO space to allow playing long sequences. The second video and screen shot of the editor show a sequence with 33 keyframes to move a ball and USB drive around on a table.

 

 

 

 

 

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