Pioneer 3
5 dof ARM
plus GRIPPER

AKIN Arm Kinematics Software Included!

The Pioneer Arm
is a relatively low-cost arm for use in research and the classroom. Its 5 degree-of-freedom robotic arm holds a gripper with foam-lined fingers for firm grasp. Driven by six, reversible 5v DC open-loop servo motors, the arm can reach up to 50 cm from the center of its rotating base to the tip of its closed fingers. This allows P3-DX's and P3-AT's to pick up objects from the floor.

Joints include:	VIDEO1 OF ARM PICKING UP OBJECT FROM THE FLOOR AND SETTING IT ON ITS BACK VIDEO2 OF ARM with Vision System FINDING OBJECT AND PICKING UP OBJECT FROM THE FLOOR
1) rotating base 2) pivoting shoulder 3) pivoting elbow 4) rotating wrist 5) pivoting gripper mount 6) gripper fingers All joints, except for gripper fingers, pivot or rotate 180 degrees. Robot top plate or accessories may reduce potential motion in some directions.

KEY FEATURES

• Nose mounted 5-axis arm allows grippers to handle objects 1 to 8 cm wide
• 6 degrees of freedom, including gripper
• Reach of 50cm
• Payload of 150gm
  
• Compatible with Pioneer DX or AT
• Forward and inverse kinematics tightly integrated into ARIA
  

ArAKIn ARM KINEMATICS API 

AKIN kinematics libraries, developed and licensed by the robotics team at FACHHOCHSCHULE TRIER, are tighly integrated with the robotics control architecture of ARIA through ArAKin

AArAKin API AREXPORT ArAKin(ArRobot *robot); AREXPORT Angles* backwardCalculation(double u, double v, double w, double posPenult, bool fixed); AREXPORT CCoords* forwardCalculation(double a_1, double alpha, double beta, double gamma, double delta); AREXPORT void moveArmByAngles(Angles* thisAngleObject, double  myZ, short armVersion)

figure 1: Arm steering demo applications

• ArAKin API to access forward and backward kinematics calculations: (Linux and Windows versions)
• Forward: calculates the cartesian coordinates by given angles of the five joints
  
• Backward: calculates the angles of the five joints by given cartesian coordinates
  
• Arm Steering Demo Application
• Main application for new invented socket-driven arm-steering: armApplet.jar (see figure 1)
• Control the robot arm with its five axes and its gripper using a TCP-Socket connection. The steering can be performed via a Java-application and a Java-applet respectively
• The program is differentiated in 3 different control-modes:
•  steering of different axes
•  steering by cartesian coordinates
•  retrieve of saved degrees, coordinate values
  

ARM SPECIFICATIONS