I picked up this IBM 7575 SCARA robot at a surplus auction cheap. I've done some re-fit on it using a Mesa 5i25/7i77 controller card driven with Machinekit
(a fork of linuxCNC). Now I can drive it around a little and open/close the manipulator! Usually I call it Gypsy
but sometimes Lennie
if it tries to stupidly kill me which only happened once.
I have no specific goal with this project other than to learn more about robots increase my nerd credibility score.
To that end, I'd like to start playing with the robot workbench, model the bot, and see if I can eventually produce trajectories that Machinekit could use to drive it. Documentation around Robot wb seems oriented to a 6-axis machine and this is a 4-axis. Tutorial
is also a bit thin on detail. Maybe I can help with that as I go forward.
Like I said, I have no master plan or timeline so if anyone has interesting ideas, helpful links, or cautionary tales, I'd welcome them.