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Uberbots current Arm design
This is the current design of our arm, with a shoulder and a wrist joint, both controlled by a PID loop and read by an encoder.
Its not really tuned perfectly yet (considering that the final model will weigh less), but i would say that it works well.
Here is the video: http://video.google.com/videoplay?do...64436349971251
More videos to come if the head mentor approves (=
Discussion
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06-02-2007 22:53
Tom Bottiglieri
Re: pic: Uberbots current Arm design
Sweet arm. Your control loops look SOLID!
Best of luck.
07-02-2007 00:10
Uberbots
Re: pic: Uberbots current Arm design
Thanks tom
i might actually post that control code after the season's end or sooner... it is actually extremely easy to use (=
Control loop:
PHP Code:
pid_control(&arm, des_arm_pos - cur_arm_pos);
pid_control(&wrist, des_wri_pos - cur_wri_pos);
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