JamesMNewton

3 ms·

1. 1.▲
   by JamesMNewton 8y ago

   The encoder is my very favorite part of the robot. I've written a page about how it works in detail: https://github.com/HaddingtonDynamics/Dexter/wiki/Encoders In summary, it's a hybrid of digital a
2. 2.▲
   by JamesMNewton 8y ago

   The encoder / motor controller logic is a bit more complex than that. Because the encoders are analog / digital hybrid they generate far more data than standard quadrature encoders. The FPGA is doing huge table lookups, ATAN2, PID
3. 3.▲
   by JamesMNewton 8y ago

   Encoders at the joint only. Motors are steppers, so we have some idea where they are but that is open loop.
4. 4.▲
   by JamesMNewton 8y ago

   1. The encoders on the Dexter arm are at the joints because that gives us the ability to compensate for backlash in the drive system. 2. The motor dance issue happens because the feedback loop on most control systems isn't fast enough.