This is rather agony and sliding but please take into account that nothing was fine-tuned, no balancing was used. I just dropped the robot with its new IK walking code on the table :) This is a good starting point and definitely version 0.0…
This was the last thing I wanted to do but we had to increase the capacity of our power supply using another SBEC. This way we can provide 9As which seems to be enough. Only 5-6 hours of work and the brand new power bus works in production! :)
Ultra boring process in pictures:
Brand new walking algorithm has been worked out! :) I can test it only without load because one voltage regulator (SBEC) would burn in normal mode.
Finally I could add IK to the base software of our robot. I really did not want to kill the servos in development phase why we needed a software simulation first. I used C# as it is very close to Java and its easy to port :) From math point of view Inverse Kinematics is a monster I want to keep as far as possible from myself :) I used Vector3D, Matrix3D and Quaternion but only in software simulation to understand how it works. The final version of this IK function is absolutely simplified and customized to our robot. Only simple sine, cosine, tangent etc. was enough.
Let your robot clean its head! :)
What have you done?!?