History

Version Alpha

First version. Arm Controled using API for SSC-32. Communication trough serial port RS-323.

Version 1.0 - Feedback Included

Hardware modified to allow direct feedback from robot joints position. Robot controled by USB using a Arduino Mega as interface to SSC-32 board and joint potentiometers.

Version 1.1 - Basic ROS Integration

Robot comunication with ROS trough serial port by the Arduino Mega. Hardware modified allowing use of multiple Serial communication ports.