5 ms·
There's just one encoder per joint. The encoder disk is 3D printed and the cruft from the print is used to refine the encoder ticks. Instead of fighting noise t
by cbames89 8y ago
There's just one encoder per joint. The encoder disk is 3D printed and the cruft from the print is used to refine the encoder ticks. Instead of fighting noise they save a map of all the systematic noise and then can use a lookup table to localize.
*I went to Vegas and built an arm with the founders.
- fest 8y agoLike an optical flow applied for radial motion?
- cbames89 8y agoLike optical flow in that features are used, not like optical flow in that there's one standard by which all measurements can be compared to.
- ggm 8y agoDoes this introduce risk of future noise (fluff, chad, whatever: it's industrial applications == dirt == hostile environment) being misread, and require recalibration? Not saying wontworkbecause. I think this calibration trick is very good and I am imagining it's applications to other things eg more precise disk head placement from noise maps of the interblock separation reads
- cbames89 8y agoYa recalibration is definitely a necessary aspect of this approach if the optical reading changes. For example if IR light levels change.
- kevin_thibedeau 8y agoWhich is guaranteed with aging.