HumpelstilzchenThe WIld Thumper robot now has a 4 degrees of freedom (DOF) Open Manipulator with a RealSense D435 depth camera attached:
The manipulator can be extended to 6 or more DOF if necessary. Communication with the Dynamixel servos is done with the AVR half-duplex software UART library by Ralph Doncaster on an Attiny85 that translates the commands from the I2C bus. The inverse kinematic of the Open Manipulator is calculated with IKFast and is controlled with MoveIt:
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