Leader and Follower Mirror

Run the Leader and Follower Mirror MicroSim Fullscreen

You can include this MicroSim on your website using the following iframe:

<iframe src="https://dmccreary.github.io/robot-arm/sims/leader-follower-mirror/main.html"
        height="722px" width="100%" scrolling="no"></iframe>

Description

Six scenarios in which you predict where a follower arm's joint ends up when it copies a leader arm, stops at its own joint limits, and adds any calibration error. Afterwards, a free mode lets you move the leader's shoulder pan, elbow flex and wrist roll. Used in Chapter 2.

Lesson Plan

Grade level: Middle school and up (age 12+). Time: 10 to 15 minutes.

1. Predict first. Read the scenario, choose one of three angles, and commit. The arms move only after you answer.
2. Apply the rule in order. Copy the leader's angle, hold it at the follower's limit if it is outside, then add any calibration error.
3. Read the gauges. Shoulder pan and wrist roll cannot be seen in a side view, so each has a gauge. The shaded wedge on the follower's gauge is its allowed range, and a small tick shows the commanded angle when there is a calibration error.
4. Free mode. After the six scenarios, move the leader's joints past the follower's limits and switch the calibration error on and off.

The pictures are schematics, drawn with the shared robot-arm drawing library.

Specification

The learning objective, evidence of mastery and content for this MicroSim are specified in Chapter 2: Anatomy of a Robot Arm.