Good video, but I would suggest you make a series where you start from regular stepper motors(the ones that you have are very expensive for a common viewer) create a controller board a very simple one, with simple serial communication or i2c. Once you have the platform designed and build make a robot based on that.
I use FreeCAD to model my robots. It is quite cool because it has a built-in python interpreter, so one can model, 3D print and assembly the robot, and use the same 3D model to control the real robot. FreeCAD can also solve the kinematics and even do some dynamics simulations using MBDyn...
Amazing video, as always! Do you plan to develop a cable-driven robot? Maybe combined with some nice motors like these ones? I really liked the video that you did a while ago.
ModBUS RTU - тоже пришлось вникнуть, что бы ручное управление токарным станком не переключать на ПЧ (преобразователь частотный). Так что можно управлять и с пульта (цифровыми пинами) и по ModBUS RTU, за одно выводить все нужные параметры на дисплей.
First, It's really impressive what you're setting out to do here. Second, I'm a senior in the Engineering Physics program at UMaine, and my senior project is focused on the development of affordable robotic actuators. I've dubbed the Project PASSR (Precision actuator for Small Scale Robotics) and I would love to share it with the community and you, maybe even get your input @Skyentific !
"Small Scale Robotics"... Have you seen the Felex AR? That tiny thing is amazing in how tiny while capable the flexible PCB coil is. If you could come up with a way to use precision with that, I think it would be ground breaking.
Yes, but not now. The cheapest motor itself cost around 50$. And the components for the controller would cost another 50$. And all this is with cheapest components. If you take good components (not the cheapest) the motor will be around 100$ and controller would cost another 80-100$ at least. You add your RnD costs, your margin, and you will easily go over 300$
@@Skyentific totally understand. For a small volume product $300 is quite inexpensive. Just mentioned that low price point because it looks like they could hit it if someone ordered a massive batch. (I.e. 10,000+)
@@martylawson1638 you might want to consider the iHSV57 motors for a 3d printer if you want servos ($80 from Aliexpress and 100-130 locally, depending if 100W or 180W model). They are a drop in replacement with Nema 24 motors and allow to be driven directly with step/dir which helps a lot when upgrading a existing setup using steppers (great for CNCs especially). Tho not enough for such a large robot arm without some serious reduction (which will reduce any chance to use backdrive)). Do mind there are 400W ones out there for $158, which are more realistic for a smaller robot arm.
@@exol511 Good find, it's hard to tell if it's actually a permanent magnet AC synchronous motor (aka a BLDC motor) or a closed loop stepper. Added it to the pile of links for when I get serious about building that printer
Marty lawson its a servo motor 100%. You can check the datasheet and there are a few instances on youtube demonstrating it. Do watch as the integrated ones without the dip switches are steppers (closed loop)
Awesome work I wish you success i love your work very interesting I hope to see more contents like how you choose how the robot arm will look like what length etc :)
Great informative video. You mentioned that this product can be used in CNC as replacement for stepper motors. I would be interested to see how you got accurate angular position using HAL sensors and how it compares to approaches using simple Back EMF or even better what you described in previous videos for the MIT Cheetah controller ( axial magnetic sensor AS5X47U)
I am not sure how these servos would be better than the iHSV57 180w ones. Especially since those are basically drop in replacements for stepper motors with standard nema mounting and dimensions, plus can be driven directly with Step and Dir which allows you to keep your old controller or breakout board. Not to mention those are quite a bit cheaper than these motors.
🍻Thank you for this video! I loved the walk through of the software and how you got it working. Especially the HEBI components. I’m curious if you will be getting into ROS? I noticed the HEBI github also had ROS files. I also noticed you didn’t enter centre of mass or measured mass (mass and com_trans variables). You mentioned you weren’t “doing any dynamics”. If you did enter those values, would the motion over-shoot be better controlled? And is that part of an underlying PID built into the HEBI modular? Thanks again! And those are some cool motors. 😎
@Jeremy Williams You can think of robot motions at different levels that interact with each other: (1) Forward/Inverse Kinematics: Where is the end effector currently and where should it be? (2) Trajectories: What path should the robot take to get there and how fast should it move? (3) Motion Control: How can a particular physical system track a desired trajectory? Dynamics is important for (3) when mapping accelerations to forces/torques, particularly as systems become larger and have more inertia. The PID controllers live one level below. Here is a video that explains the concept: ru-vid.com/video/%D0%B2%D0%B8%D0%B4%D0%B5%D0%BE-9WjNo5DCtfg.html So if you want to draw a straight path with little overshoot, you would (a) use IK to compute multiple intermediate waypoints that form a straight line to the desired goal, (b) compute a trajectory that passes through these intermediate waypoints, and (c) command positions along the trajectory with appropriate feed forward velocities/torques.
@@florianenner7435 thank you! I really appreciate the time you took to reply and your information is very useful. I’ll check out your video suggestion later today 😊👍
Great video! Have you ever though about trying a control demo with one of your arms? I think it would be cool to see one of these arms balencing a ball on a convex plate
As far as I know, it is powerful, but also complicated library. Which you cannot learn in just one day. With hebi robotics python module it took me lees than half a day to understand how to use forward and inverse kinematics.
This arm was build just yo test the inverse kinematics. Pid work fine, just need to adjust the pid values for this loads. But as it was only for the simple quick test I did not waste time for this.
Hi! I'm looking to build a robot arm for my project. Right now have two options 1) AR3 6 Axis Robot from Chris Annin channel (his day job is in robotics) 2) Your project. Can you say how much will cost to build your roboarm? Спасибо. Всего хорошего!
sir, I tried using the hebi api for 6DOF robot simulation, The positioning part works perfectly but I am do not get any response when i try to orient the robot. I mean the first three axis wok great, but the next three axis are non responsive. Can you please share some suggestions or study material?
Next time plz try interface converters from Robotis (Dynamixel U2D2) it's really good ......and a good move using the minimal modbus I have been using it for all my industrial robots projects
What is the cost of such a robot. And can you add a vision system or do you have videos of such a thing? Trying to have it grab and picks up a cable and plug it into a non fixed location outlet, one that can slightly change its position, so would need to see and find the outlet and plug it in. Thanks.
Hi my friend i am from Ecuador... very good content. I like very much your videos... what book do you recomend about modeling, control with CODE IMPLEMENTATION about robot arms... thank you!
can you use the same software to program robot made with closed loop steppers ? have a few of thease lying arround so it would be great to meke something of them maybe tutorial with good old closed loop steppers wouyld be nice :D
Would you be interested in such video? And why? I though, that for most people it is important to do inverse kinematics, but does not important how. And only important to do it in simple way.
@@Skyentific As for me, of course I do! It's the only thing I cannot understand for a long time and cannot find a good explanation of those mathematical formulas, matrix rotations etc. Also, there are different structures of robot arms, some of them does not have ready IK algorithms available, so it would be great to understand the main principles of the IK and be able to program them.
Nice overview! When you follow the cross at 9:10, why the robot is driving this "hook" by turning left and right? Kind of unprecise or too much gain in control parameters?
I think it's because the robot just jumps from one position to the other, it doesn't follow a trajectory so there is some overshoot during the motion because it tries to go from A to B as fast as possible.
Что значит как выглядит? В режиме постоянного момента мотор прикладывает одину и туже силу, если на мотор ничего не прикреплено, то он будет просто раскручиваться и разгоняться.
@@maxekb77 да, это гораздо интереснее! :) Можно следить за текущим моментом (он все время обновляется в одном из регистров). Плюс можно задать максимальный момент, за который мотор не будет заходить. Надеюсь это ответит на ваш вопрос.
Hi skyentific. Im a used kuka robots dealer. I have many kuka arms with siemens resolver servos.would you able to develope a controller to run them. We will need amplifiers also fo all 6 axis
Same techniques used for geared motors with absolute encoder. Put another absolute encoder or potentiometer on the output shaft, or use limit switches and a homing procedure, or sensorelss homing where you move until the joint reaches the end of its range, with a low current limit so it won't push hard enough to damage anything, but will still be able to detect when it's hit an obstacle.
I see a lot of potential for your robots in controlling the motion of small video cameras. This would be greatly enhanced if you add a degree of motion which is a linear movement along the rails. High end video cameras with their lenses and associated support still weigh 20-30 lbs which requires giant robot arms costing > $100K (for reference see www.mrmoco.com/motion-control/bolt/ ). But some very good tiny cameras such as Sony's latest can reduce the weight down to a single kg which makes smaller arms more feasible. Also check out the work of Steve Girault (www.the-garage.tv/about) who is opening an online school on visual engineering (video) and who relies extensively on a combination of robots to move the camera and computer controlled actuators to move the subject. I'd be glad to put together a summary of robot usage in videography and what might be accomplished by smaller but low cost arms.
@6:50 can anyone help me understand what he is saying? "Heavy robotics" or "Heppy robotics" is all I can understand. No disrespect intended. I rewound and listened closely several times and it doesnt make sense to me.
@@Skyentific -so you're saying on your hand first there is the index finger (x), then middle finger (y) and lastly thumb (z)?- Seems weird but ok. Edit: ah, I see, it's X Y Z but you would have to start with the thumb :D
![Simple Inverse Kinematics and iPhone control [for any DIY Robotic Arm]](/img/logo.svg){kind=logo}
