Quote:
Originally Posted by Leav
Even though it looks like a circular saw, it isn't very dangerous. many robots with a similar giant sprocket on an arm passed inspection in 2008, and I don't see why that would change in 2011.
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My concern isn't that it will cut something, as it is not going that fast, but rather that someone will their hair or finger caught in there. The sprocket must be entirely covered to prevent this. You might get away with just covering the bottom where the gears mesh, it's really a judgment call.
You'll want to start with P, add some D to help prevent overshoot, and then add some I to help it get to the correct height if it isn't there from the P and D. - AustinSchuh [more] 
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