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Re: pic: cRIO CAN Jag
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For my EE senior design project, me and my group constructed a master-slave robotic arm system. The big slave arm mimicked everything the small master arm did. We used Jaguars for the motor controllers, utilizing their CAN capabilities and built in position handling. Here is a link to several pictures and a few videos of our project (Robby was one of my group members): http://www.robbymorrill.com/464.htm The pictures that pertain to this thread (several pictures down the page) are not too good at showing the CAN cables. The CAN cables are zip-tied to PWM style cables that we used to connect analog encoders to the Analog ports on the Jaguars. They were very easy and cheap to make. We bought 4 conductor phone cable, 4C6P phone jacks, and a cheap crimper from Fry's, and they worked perfectly. Here is a basic outline of our project: The first video doesn't show much arm movement except for the wrist, but you can kind of see the arm move close to the end. At that point we were working on tuning our PID constants. That was probably the last time we had the arm working really well with PI (no D). While working on D we began to see a lot of nasty oscillations in the shoulder joint. This joint used to be an RS545 motor with a Banebots 256:1 P60 gearbox. Despite Banebots hardening the shaft and the sun gear, it still deformed, creating a lot of play in the gearbox. The PID oscillations and the play in the gearbox lead to the motor eventually smoking an hour before the senior design competition! We replaced it with a Fischer Price motor (thanks 2158!) and only turned on P. Every video after that shows only P (still pretty good I might say). We won first place in the University of Texas EE Senior Design Competition! There were many difficult parts to the project; designing a robotic arm from scratch in Solidworks, designing a PCB, etc. Jaguar made it possible to focus on other things because the position handling was pretty much taken care of for us. We used one RDK-BDC (Reference Design Kit) to get started talking to the Jags with CAN, but all the rest were regular MDL-BDCs like we got in the kit this year. Setting the ID was very simple: send out an ID set message from the control board, press the user button on the Jag that you want to set as that ID number, presto, the ID is updated. I'll try and get some better pictures of the Jags and the CAN cables if people are interested. Thanks for letting me show off my project ![]() Let me know if you have questions, David |
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