中文 EEnglish/a>

AAR4 6-Axis Robot Arm · span>真Real 3D Trajectory Lab/span>

AAnnin AR4(MK5) official parts + 6-axis inverse kinematics · the end effector draws a sine wave / circle / triangle/div>

←← Back to Build Your Own Robot/a>

加Loading AR4 real 3D parts…/div>

轨Trajectory Mode/h3>

〰〰/span>正Sine Wave/span> SSinusoid/span>

◯◯/span>圆Circle/span> CCircle/span>

△△/span>三Triangle/span> TTriangle/span>

速Speed Multiplier/label> 11.0×/span>

画Canvas Height/label> 00.40m/span>

实Live Data/h3>

末Actual End-Effector Path/span> 命Commanded Path/span>

离Offline Reproduction Code/h3> 随Updates with mode/span>

真Real Dynamics (Drake) Reproduction/h3>
The 3D above is a kinematic demo running in the browser without dynamics. The programs below run the same AR4 inside MIT Drake's real dynamics — to answer "can the real hardware keep up with this set of joint angles?". /p>

aar4_arm.urdf/a>示Schematic link model: no meshes needed, loads directly into Drake/span>

aar4_real.urdf/a>真Real-parts version: 18 official part meshes, matches the real robot/span>

aarm_wave_drake_ar4.py/a>PPD + gravity compensation + auto-tuned gains; numerical validation and trajectory replay/span>

aarm_meshcat_ar4.py/a>真Real-appearance 3D, exports a single-file animated HTML/span>

ppip install drake numpy # Numerical validation (1 kHz PD + gravity compensation, prints tracking error) python3 arm_wave_drake_ar4.py # Open the browser 3D view python3 arm_wave_drake_ar4.py --meshcat # Replay q_traj.npy exported by this page, frame by frame, to see tracking error under real dynamics python3 arm_wave_drake_ar4.py --q-traj q_traj.npy # Real-appearance 3D, and export a single-file animation you can open offline python3 arm_meshcat_ar4.py --html arm_real_3d_ar4.html/pre>
📖📖 Open the full guide: installing pydrake / field-by-field URDF walkthrough / gain tuning / trajectory replay / FAQ →/a>