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My 6-axis robot arm with impedance control - level 2

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DIY robot arm with impedance control - LEVEL 2 ✅
This is the second step of the journey of enabling my robot to ”feel“ its environment and thus actively interact with it by developing and implementing an impedance controller.
The main part of impedance control is that the output torque of each joint is measured/estimated and controlled, other than controlling just velocity and position. This way the robot can be controlled to act like a spring damper system (you move the robot … it responses with a force … impedance) and react/interact to external forces/torques acting on the robot. This can enable robust safe interaction, compliant behavior as well as demanding/limiting interaction forces/torques.
The next level involves trajectory tracking, where the robot follows a defined trajectory in space as precise as possible while staying compliant. Stay tuned.. 🦾
In case of any questions, feel free!

Опубликовано:

28 авг 2024

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Комментарии : 24

@tommaragos2764 9 месяцев назад

This is absolutely nutty, if you get this to a point of production, or wish to open source I will be very excited! I'm sure I am not the only one who would pay for plans with a basic materials kit!

@EngineeringSpareTime 9 месяцев назад

This is definitely something I’m considering :) let’s see how it goes in 2024 :) At this point I basically have everything together to develop a seconds version, which would be easier to manufacture/assemble and more integrated (e.g. no external electronics box..) Thanks for your input - motivating!!

@tommaragos2764 9 месяцев назад

Play your cards right and it may not longer be your "spare time" haha!

@AnthonyWebb7 4 месяца назад

I'd be happy to support you on patreon as well! Brilliant minds like you deserve to be fed so all of humanity and innovation can move forward.

@rafaelmontserrat4443 24 дня назад

I would be interested in building one.

@Bruhwhatthesigmaohio Месяц назад

Is that an air pump I see on the shelf with the computer???!!!

@MaX271 9 месяцев назад

Impressive work!

@pododododoehoh3550 3 месяца назад

I would 100% join a patreon for educational content on how to build this, Im hugely interested in robotics and want to do a robotic arm for my final year uni project.

@EngineeringNibbles 7 месяцев назад

Looks amazing, very interested in a bom or software!

@adventurengineer 2 месяца назад

what motor & gear technology did you use for this setup?

@adrians.4319 9 месяцев назад

I am building one, but yours is by far the best I've seen in Internet. Congratulatios. How much will it cost?

@EngineeringSpareTime 9 месяцев назад

Thank you, I hope to see yours working too 💪🏼 hard to tell right now. I aiming to get the next version in the price range of a “gaming laptop”

@dts_user1389 3 месяца назад

@@EngineeringSpareTime OH MY GOOOOOOOOOOOOOOD THAT IS WILDLY AFFORDABLE. I built an Annin Robotics AR4 and that was around the $2k mark and 40+ hours of assembly. Billed at like $40/hr, that would already be nearing $4k. I was expecting easily in the range of 8K+. From my experience, that would still be beating all your competitors by miles... I've seen some used ABB robots for around the $10K price point, but I don't think anything new has close to this functionality. Closest might be Mecademic Meca500? But that's like $15k for a smaller robot, (Albeit maybe higher position tolerances). And yeah, positional accuracy is definitely only a small part of what your robot can do. Just the torque sensing stuff makes my jaw drop! Gravity compensation and friction compensation and everything you built on top of that... I have no words. If you do make it around the price range of a "gaming laptop", I would have to name my first born after you!

@MartinoDesign99 9 месяцев назад

I want! Let me know if I can buy the designs?

@singularvaluedecomp 7 месяцев назад

Hi! Amazing work! I was wondering if you have any papers you recommend for doing system identification for the friction compensation and gravity compensation (estimating inertial parameters). I am building something similar with QDD actuators. Thanks!

@JeanSolagnier 9 месяцев назад

Is the pc in the bottom left running your own control algorithm? Using bought controllers or diy? This is insanely inspiring as a mechatronics student

@EngineeringSpareTime 9 месяцев назад

Yes, exactly. The box includes off the shelf motor controllers and custom control electronics with a central micro controller. The (potential) next version will make use of my new custom motor drivers, which would be included in the arm itself :) Thank you, I’m glad to hear this!!

@seremetvlad 7 месяцев назад

Mighty imoressive! I would pay to be able to replicate this

@EngineeringSpareTime 6 месяцев назад

I’m working on making this possible 🙏🏼

@user-wi5vi7dd3z 6 месяцев назад

Are you willing to share how many $ in parts this project consumed? ( just the BOM without R&D) The quality and ingenuity behind it seems crazy, id love to build one myself or buy it as a kit, if its remotely affordable ! Edit: to think this is considered a V1 with a direct successor coming at some point blows my mind even more!

@EngineeringSpareTime 6 месяцев назад

Thank you, I really appreciate it! In this version it’s about 4k in parts. I’ll optimize cost, manufacturability in the next version significantly. So that it’s fun to build and doesn’t take so much time as it took me :)