Yasky-bot. An industrial robotic arm becomes open

What happens when you attach with a zip-tie a toothbrush to an anthropomorfic manipulator?

Almost five years ago I've made a useless box by using an old Ikea drawer, few pieces of wood and two rc servomotors. 

Now that I've a fully functional industrial robotic arm, capable to carry 5 Kg at very high speed I said to myself, hey Daniele why don't you make that old useless box even more useless by using the robot?

But let's go back a while... A useless machine is not a simple fun machine made by the makers after arduino make its programming very easy. 

This machine has a much more deeper significate. Its idea popped out by the great mind of Claude Shannon (yes is the same Shannon of the Nyquist-Shannon theorem for the reconstruction of a sampled signal) almost 70 years ago.

Arthur C.Clarke, saw that machine on Shannon's desk and later he wrote, "There is something unspeakably sinister about a machine that does nothing—absolutely nothing—except switch itself off". This is exactly what we (at least I) feel when we see such a piece of engineering. 

I decide to use the robot to make this concept even more deep. A robot that turn on an other robot made with the only purpose to turn himself off. This is a mindblowing concept.

Here the video of Yasky (yes, this is how I've called the robot arm) performing the dance

Let's start from the middle of the project... I know that a lot of projects starts and after a while they becomes or too complicated or people tends to tackle new ideas because the initial energy tends to become les and less while the time passes. 

That's why I wanted to start from the middle. I want to show how the robot is performig nowadays, so I can better explain the journey I've made to reach this point.

In this funny video I've made at home, you can see how the robots follows the prescribed 3d trajectory (that has been generated runtime in python and then loaded into the controller). The inverse kinematics has been solved in python too.