My new years resolution is to really get a good understanding of industrial robot arm control with the hopes to come up with some dynamic control to keep robots balanced and borg that into MRL.

I recently picked up a robot arm kit from OWI.  It's a 5 degree of freedom robotic arm.  It took about 2.5 hours to assemble.    

This morning I was surprised to find that there is a paper written that has the D-H parameters for this arm to come up with a proper model for the arm.  This should be a simpler model than the full InMoov so  I figured, it's good to start by trying to understand this.

This does mean, I'll need to hack this arm up to add some potentiometers to get feedback from the angles.

If the math all holds up ,  we should be able to get this arm to sign it's name.

For those who are into the whole Jacobian / D-H parameter quest , here's the link to eh paper I found

http://www.tsme.org/tsme-icome/tsme-icome01/paper/DRC/DRC002.pdf

So, Using the D-H params from the white paper above, I was able to set up RoboAnalyzer to run simulations of the OWI Robot Arm... I feel like I'm starting to understand a bit of what's going on now (finally!)  Though, I was confused when I first was working though it.  I thought the white paper was wrong.  Now the question is, using this,  can I compute the IK for a particular point in space and see the simulation actually drive the arm to that point.