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When programming the chemist robot ? in particular,
the lifting and lowering motion in order to insert
the pipette (it's like a large eye dropper) into
the flask and pick up some liquid, it is recommended
to move servos 1, 2, 3 and 4 in a single move. This
can keep the pipette vertical as it moves up and
down, minimizes side motion and eliminates possible
pipette rotation. Do this by teaching the top point
of the motion and then the bottom point, with axes
1-4.
To further reduce the side movement, you can
add one or more additional points between the top
and bottom points. To achieve this, you will need
to move to each point on the way down, un-squeeze
the dropper, and then move to each point, in reverse
order, on the way up again. You may want to make
the points into macros for convenience.
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