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5-bar Pen Plotter
5-bar pen plotter drawing "Jerry Li" from cartesian coordinates
Pen plotter drawing a square
Overview
I created a 5-bar pen plotter to learn how Linear Algebra is applied in a robotics context, with transformation matrices.
I used 3D-printed arms with 2 NEMA17 stepper motors, each controlled by Trinamic TMC2209 stepper motor driver. Programming was done in C++ with an Arduino Nano.
The user inputs cartesian coordinates, which are transformed using inverse kinematics to the motors' target angles.