Faze4 - Trajectory planning in Matlab for complex path 

Official website: source-robotic...
Join our discord community: / discord
Check out our forum and ask questions: discourse.sour...
About this robotic arm:
- fully open source
- 6 AXIS with stepper motors and cycloidal gearboxes
- reach of 70 cm
- weight around 15 kg
- cheap - less than 1000 dollars
If you are interested in PCB board used in this robotic arm or STEP files send mail to:
cmi.robotics@gmail.com
Some questions i get asked a lot:
Q: Why is it so slow ?
A: I didn't implement acceleration and in general it is not really fast robot arm. You can't expect something this large and fully 3d printed to move really fast without jerky motion.
Q: Why is it so loud?
A: One of the reasons is that I used half step on stepper drivers and that is making a lot of noise, but also stepper drivers I used are really crappy and more expensive ones are completely silent.
Hi, in this video you will see more complex trajectory that arm will perform.
It still needs some tuning in terms of acceleration and microstepping because you can see some wooble in first clip.
It is using Matlab robotic toolbox made by Peter Corke:
petercorke.com...
Code will be available soon on my Github page:
github.com/PCr...
Join our discord community: / discord
Support the project: / pcrnjak
/ source_robotics
Code used in this video:
github.com/PCr...
Building instructions and BOM can be found here (In building instructions PDF)
github.com/PCr...
DOCS can be found here:
faze4-robotic-...