This is the second video of yours that I've watched. You are doing some great engineering and then bring it to life. I love this stuff. That's why I'm now *SUBSCRIBED!*
You're amazing! I would love to see you explore the idea of miniature 3d printed servos like the 3d printed actuator you made. I want to make something similar for my robotic hand and its joints because I don't like the idea of using cables or string to move fingers.
the device is used until today, it seems to be an invention of the 1930s. "Selsyn" (from English self-synchronizing) is an induction machine of a synchronous communication system.
Thank you sir for sharing amazing knowlages with us. i amtrying to make same servo as you made but oniy difference is i use a potentiomer to get a position so please can you guide me to do this . please help me.
Well done! I am making my own servos too! But I also make a custom PCB for it with an encoder, mc, driver, and current sensor. What kind of control system do you use? Is it PID or something else?
Hello Brother. excellent work. can you help me with the second encoder? I would like to control the servo just like you did in the video. with the position of the lever.
great job and video. I have tried this in the past with much smaller motors but could never fix the overshooting and oscillations. That too i was using the PID library. How did you fix the issue of oscillations and get it to stop on exact position? Also how do you stop exactly at 359 degrees and dont get it overshoot and go back to zero and ultimately keep on spinning and never stop as it never achieves the value?
It all comes down to tuning. If you used a PID algorithm and you still got over shoot then it hasn’t been tuned properly. I find that starting with the proportional term and setting the other terms to zero allows you to get an effective servo. In fact, that’s what I did in this project. There is only a proportional term. It’s just tuned properly so it works pretty well on its own. To get it to continually keep moving I simply continually change the setpoint of the PID algorithm.
First off, nice project. How do you calibrate that encoder? I am assuming it is of the hall effect type, and you are using what looks like a standard button magnet thickness polarized. How do you set say 0 degrees? and does it remember that? or do you assume 0 degrees on boot? Would be really cool if you could use a attiny or similar installed internally and make it so that it accepts input like any standard servo (pwm). Also, I would love to see this project done with a herringbone gearset
The encoder I’m using is an absolute encoder so it has a range of 0 - 359 degrees. To calibrate it I wrote code that offsets all the values. Say the 60 degree position really needs to be the 0 degree position, all of the values move up 60 degrees so that the 60 degree position is now the 0 degree position. And yes, it remembers this every time every time. I plan on experimenting with gear sets in the future.
@@AaedMusa Sir you have the capability, so I am going to leave this comment here. Could you in theory, use the current feedback from the motor driver(bts 7960 has built in current feedback) with the encoder implement to combination of feedforward and feedback control? something like - ru-vid.com/video/%D0%B2%D0%B8%D0%B4%D0%B5%D0%BE-FW_ay7K4jPE.html
Oh ok. I’m not sure what kind of torque is needed for that but it seems doable. One thing I don’t know is if it’s better to sail winching yourself or having a machine do it. It may be better and safer for the human to winch, but again, I have no experience sailing so I don’t know.
