{"id":492,"date":"2026-06-11T10:57:30","date_gmt":"2026-06-11T02:57:30","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/robot-arm-4dof-servo-arduino-motion-programming-farsi\/"},"modified":"2026-06-11T10:57:30","modified_gmt":"2026-06-11T02:57:30","slug":"robot-arm-4dof-servo-arduino-motion-programming-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/robot-arm-4dof-servo-arduino-motion-programming-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u0631\u0628\u0627\u062a \u0628\u0627\u0632\u0648\u06cc \u0631\u0628\u0627\u062a\u06cc\u06a9 \u06f4-DOF \u0628\u0627 \u0633\u0631\u0648\u0648\u0645\u0648\u062a\u0648\u0631 \u0648 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648: \u0628\u0631\u0646\u0627\u0645\u0647\u200c\u0646\u0648\u06cc\u0633\u06cc \u062d\u0631\u06a9\u062a (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u0628\u0627\u0632\u0648\u06cc \u0631\u0628\u0627\u062a\u06cc\u06a9 4DOF \u0633\u0631\u0648\u0648\u0645\u0648\u062a\u0648\u0631 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648\n<\/div>\n
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\u0628\u0627\u0632\u0648\u06cc \u0631\u0628\u0627\u062a\u06cc\u06a9 DOF \u06cc\u0639\u0646\u06cc \u0686\u0647\u061f (\u0628\u0631\u0627\u06cc \u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

DOF<\/strong> (Degrees of Freedom) \u06cc\u0639\u0646\u06cc \u062a\u0639\u062f\u0627\u062f \u0645\u062d\u0648\u0631\u0647\u0627\u06cc \u062d\u0631\u06a9\u062a \u0645\u0633\u062a\u0642\u0644. \u06cc\u06a9 \u0628\u0627\u0632\u0648\u06cc \u0631\u0628\u0627\u062a\u06cc\u06a9 \u06f4-DOF \u0686\u0647\u0627\u0631 \u0645\u0641\u0635\u0644 \u0642\u0627\u0628\u0644 \u06a9\u0646\u062a\u0631\u0644 \u0645\u0633\u062a\u0642\u0644 \u062f\u0627\u0631\u062f: Base<\/strong> (\u0686\u0631\u062e\u0634 \u0627\u0641\u0642\u06cc \u067e\u0627\u06cc\u0647)\u060c Shoulder<\/strong> (\u0634\u0627\u0646\u0647)\u060c Elbow<\/strong> (\u0622\u0631\u0646\u062c)\u060c \u0648 Wrist\/Gripper<\/strong> (\u0645\u0686\/\u06af\u06cc\u0631\u0647).<\/p>\n

\u062f\u0631 \u0628\u0627\u0632\u0648\u0647\u0627\u06cc \u0631\u0628\u0627\u062a\u06cc\u06a9 \u0635\u0646\u0639\u062a\u06cc \u0627\u0632 Inverse Kinematics<\/strong> (IK) \u0628\u0631\u0627\u06cc \u0645\u062d\u0627\u0633\u0628\u0647 \u0632\u0627\u0648\u06cc\u0647 \u0647\u0631 \u0645\u0641\u0635\u0644 \u0627\u0632 \u0631\u0648\u06cc \u0645\u0648\u0642\u0639\u06cc\u062a \u0646\u0642\u0637\u0647 \u0647\u062f\u0641 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f. \u0646\u0633\u062e\u0647 \u0633\u0627\u062f\u0647\u200c\u062a\u0631 \u0645\u0627 \u0628\u0627 Joystick \u0647\u0631 \u0645\u0641\u0635\u0644 \u0631\u0627 \u0645\u0633\u062a\u0642\u06cc\u0645 \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645 \u2014 Joint Space Control<\/strong> \u2014 \u06a9\u0647 \u0628\u0631\u0627\u06cc \u0634\u0631\u0648\u0639 \u0628\u0633\u06cc\u0627\u0631 \u0622\u0645\u0648\u0632\u0646\u062f\u0647 \u0627\u0633\u062a.<\/p>\n<\/div>\n

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\u0645\u062d\u0635\u0648\u0644\u06cc \u06a9\u0647 \u0645\u06cc\u200c\u0633\u0627\u0632\u06cc\u062f<\/h2>\n

\u06cc\u06a9 \u0628\u0627\u0632\u0648\u06cc \u0631\u0628\u0627\u062a\u06cc\u06a9 \u06f4-DOF \u0628\u0627 \u0633\u0631\u0648 MG996R \u06a9\u0647 \u0628\u0627 Joystick \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc\u200c\u0634\u0648\u062f \u0648 \u062d\u0631\u06a9\u0627\u062a \u0631\u0627 \u0636\u0628\u0637\/\u067e\u062e\u0634 \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n

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  • \u0632\u0645\u0627\u0646 \u0633\u0627\u062e\u062a:<\/strong> \u06f1\u06f0 \u062a\u0627 \u06f1\u06f5 \u0633\u0627\u0639\u062a<\/li>\n
  • \u0647\u0632\u06cc\u0646\u0647:<\/strong> \u06f1.\u06f5 \u062a\u0627 \u06f2.\u06f5 \u0645\u06cc\u0644\u06cc\u0648\u0646 \u062a\u0648\u0645\u0627\u0646<\/li>\n
  • \u0628\u0627\u0631 \u0642\u0627\u0628\u0644 \u062d\u0645\u0644:<\/strong> \u06f5\u06f0\u06f0g<\/li>\n<\/ul>\n<\/div>\n

    \n\nBase<\/text>\n\nShoulder<\/text>\n\n\n\n\n\nElbow<\/text>\nWrist<\/text>\n\nGrip<\/text>\n\u0628\u0627\u0632\u0648\u06cc 4-DOF \u2014 Base + Shoulder + Elbow + Wrist\/Gripper<\/text>\n<\/svg><\/p>\n

    \u06a9\u062f Arduino \u2014 Joystick Control + Record\/Replay<\/h2>\n
    \n#include <Servo.h>\nServo base, shoulder, elbow, wrist;\n\n\/\/ \u067e\u06cc\u0646\u200c\u0647\u0627\u06cc Joystick:\nconst int JX1=A0, JY1=A1;  \/\/ Base + Shoulder\nconst int JX2=A2, JY2=A3;  \/\/ Elbow + Wrist\nconst int BTN_REC=2, BTN_PLAY=3;\n\n\/\/ \u0636\u0628\u0637 \u062d\u0631\u06a9\u0627\u062a:\nint recBase[100], recShld[100], recElbw[100], recWrst[100];\nint recIdx=0, maxRec=100;\nbool isRecording=false;\n\nint pos[4] = {90, 90, 90, 90};  \/\/ \u0645\u0648\u0642\u0639\u06cc\u062a \u0641\u0639\u0644\u06cc\n\nvoid setup() {\n  base.attach(9); shoulder.attach(10); elbow.attach(11); wrist.attach(12);\n  pinMode(BTN_REC, INPUT_PULLUP);\n  pinMode(BTN_PLAY, INPUT_PULLUP);\n  for(int i=0;i<4;i++) { \/* \u0645\u0642\u062f\u0627\u0631\u062f\u0647\u06cc \u0627\u0648\u0644\u06cc\u0647 *\/ }\n}\n\nint readJoy(int pin, int center=512) {\n  int v = analogRead(pin) - center;\n  return (abs(v) > 50) ? map(v, -512, 512, -3, 3) : 0;\n}\n\nvoid loop() {\n  pos[0] = constrain(pos[0] + readJoy(JX1), 0, 180);\n  pos[1] = constrain(pos[1] + readJoy(JY1), 30, 150);\n  pos[2] = constrain(pos[2] + readJoy(JX2), 0, 180);\n  pos[3] = constrain(pos[3] + readJoy(JY2), 0, 180);\n\n  base.write(pos[0]); shoulder.write(pos[1]);\n  elbow.write(pos[2]); wrist.write(pos[3]);\n\n  if(digitalRead(BTN_REC)==LOW && recIdx < maxRec) {\n    recBase[recIdx]=pos[0]; recShld[recIdx]=pos[1];\n    recElbw[recIdx]=pos[2]; recWrst[recIdx]=pos[3];\n    recIdx++;\n  }\n  if(digitalRead(BTN_PLAY)==LOW && recIdx > 0) {\n    for(int i=0; i<\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u062a\u0633\u062a<\/h2>\n\n\n\n\n\n\n\n\n
    \u062a\u0633\u062a<\/th>\n\u0646\u062a\u06cc\u062c\u0647<\/th>\n<\/tr>\n<\/thead>\n
    \u0647\u0631 \u06f4 \u0633\u0631\u0648 \u062f\u0631 \u0645\u062d\u062f\u0648\u062f\u0647 \u062d\u0631\u06a9\u062a \u0645\u06cc\u200c\u06a9\u0646\u0646\u062f\u061f<\/td>\n\u0628\u0644\u0647<\/td>\n<\/tr>\n
    \u0633\u0631\u0648\u0647\u0627 \u06af\u0631\u0645 \u0646\u0645\u06cc\u200c\u0634\u0648\u0646\u062f \u062f\u0631 \u062d\u06cc\u0646 \u062d\u0631\u06a9\u062a\u061f<\/td>\nUBEC 5A<\/td>\n<\/tr>\n
    \u0636\u0628\u0637 \u0648 \u067e\u062e\u0634 \u062d\u0631\u06a9\u062a \u06a9\u0627\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f\u061f<\/td>\n\u062f\u06a9\u0645\u0647 REC + PLAY<\/td>\n<\/tr>\n
    \u0628\u0627\u0632\u0648 \u0648\u0632\u0646 \u06f2\u06f0\u06f0g \u0631\u0627 \u0628\u0627\u0644\u0627 \u0645\u06cc\u200c\u0628\u0631\u062f\u061f<\/td>\nMG996R 15kg.cm<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nJoystick \u00d7 \u06f2<\/text>\nADC \u0622\u0646\u0627\u0644\u0648\u06af<\/text>\nArduino Mega<\/text>\nPID + Rec<\/text>\nPCA9685<\/text>\nI2C \u2192 \u0633\u0631\u0648<\/text>\nMG996R \u00d7 \u06f4<\/text>\n\u062d\u0631\u06a9\u062a \u0628\u0627\u0632\u0648<\/text>\n\u0628\u0627\u0632\u0648\u06cc \u0631\u0628\u0627\u062a\u06cc\u06a9 \u2014 Joystick \u2192 Arduino \u2192 I2C \u2192 \u0633\u0631\u0648<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
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