This repository contains a Blender IK rig for the RPI Robotics 6-Axis Degree of Freedom (DoF) Arm. The IK rig allows for simulation and control of the arm within the Blender software.
Animated Render Demonstration
0001-0160.mp4
IK Demo as of v1.1
2023-10-25.16-58-14.mp4
- Inverse Kinematics (IK) control
- Adjustable joint limits to match the physical limitations of the arm
- Realistic arm physics simulation
To use the IK rig, follow these steps:
- Clone or download this repository to your local machine.
- Open Blender and navigate to the directory where you cloned/downloaded the repository.
- Open the
.blendfile corresponding to the version you are looking for. - You will see the 3D model of the arm with the IK rig applied.
- Use the control bones to move and animate the arm.
- Adjust the joint limits if needed to match the physical limitations of the arm.
In the future, we plan to develop code projects that allow for exporting Blender data to a micro-controller. This will enable control of the RPI Robotics 6-Axis DoM Arm directly from a micro-controller, providing a seamless integration between the virtual arm in Blender and the physical arm.
We would like to extend a special thanks to the following individuals and organizations for their contributions:
- Thomas Byrne: OBJ Assembly
- Annin Robotics: Robot Design and CAD
The file structure of this repository is as follows:
BLD - IK Rigs: The directory containing all versions of the IK rigs.README.md: This file, providing an overview and instructions.
This IK rig was created in Blender version 3.6.4, thus requiring that version or above for optimal compatibility. Make sure Blender is installed before using this rig.
Feel free to open an issue or submit a pull request for any issues or suggestions. Contributions are welcome!
This project is licensed under the MIT License.