Smart Lamp

I studied the math and kinematics needed to solve for the lamp’s positions. The picture below is one of the things that I studied. Apparently forward kinematics turns inputs of angles into positions and inverse kinematics just does the opposite.

I made a really early prototype for the servo joint that will connect the lower and upper arms of the lamp. I got the servo to work just with the Arduino, but when I tried to implement the servo driver module into the mix, I couldn’t get the servo to move. I think that’s the next step for this project; getting the servo to sweep up and down with the arm attached.

I created version 3 of the piston head that will push the parachute out of the body. This new version has a latch that the servo arm locks on to, instead of the old version where the servo had to latch onto the physical spring.

I built version 2 of the wheel cap for the servo joint. The new design put the connecter on one side instead of in the middle so that it can actually connect to the servo and allow it to rotate freely.

Sliced the parts in the 3D printing software and started the 3D print.

Today I created the “cap” for the servo. The cap attaches the shaft of the lamp to the servo to allow the servo to control the angle of the lamp arm.

Implemented an open source eye and head tracking algorithm into the raspberry pi 5. Confirmed camera + pi algorithm is working. Next step is to build the lamp.