Zima · 2025-12-06 · 6 hours
Goal: Start setting up forward and inverse kinematics solving for zima arm
What I did:
- used http://www.pabr.org/sixlinux/sixpair.c to set bluetooth host mac of ps3 controller to raspi mac
- gave up, opted for wired control for now
- Started working on forward and inverse kinematic solver for arm
What worked:
- Nothing
What failed:
- ps3 controller refused to connnect over bluetooth
- spent like an hour debugging
Key learning:
- FK is just a chain of transformation matrices being multiplied
Next session:
- Continue ik and fk setup
Time spent: 6 hours