4 ms·
Well, if it can fold my laundry and do the dishes, then jerky movements don't matter to me. I suppose precision can be fixed with camera feedback. And those fo
by amelius 2mo ago
Well, if it can fold my laundry and do the dishes, then jerky movements don't matter to me. I suppose precision can be fixed with camera feedback.
And those force feedback actuators use significantly more power.
- spwa4 2mo agoFor the love of god. You're going to hurt yourself. You don't need to be a robotics expert but, you want your motors to not jitter? Use a robotics library! PLAN the trajectory. The jerk will disappear and lots of other things will disappear. Your trajectory generator will say "sorry, Dave" (throw an exception, they're mostly C++), rather than the robot crashing or hurting you or the battery catching fire (which these servos can easily cause). Basic blind servo control is cool for RC cars but for something this size it definitely isn't. Don't send raw step changes to the servo positions. Use a trajectory generator that enforces position/velocity/acceleration/jerk limits, ideally use measured joint state (but not available on hobby servos) rather than assuming commanded position was reached, and add hardware-level current/torque/fault limits and a real emergency-stop strategy. Torque/current limiting, if necessary in software, is the minimum here.