New Control System

Owned by Abdul Haseeb
Last updated: May 24, 2022
2 min read



Problems:

  • what if the in-person arm can go further than the actual arm (because the actual arm's movement can be restricted because of a rock or something)
    • because the in-person arm should be in-sync with the actual arm
  •  


Alternative Solutions:

  • control only the end effector for the reset of the arm use something more simpler
  • for rotating the end affector using a button
  • the end affector of the in person arm doesn't have a claw but has buttons



Arm

  • can have the same size as actual arm
  • or have it radioed down(for example the control arm is 1:2 of the actual arm)

End Effector

  • use only buttons 
  • use inserted fingers for the claw
  • use grabber tool Lighted Pickup Grabber Tool
  • use pliers 
    • ideally ones with big jaws and wide range of motion (like the the toy robot arm above)
    • like this oil filter plier
    • or black smith pliers

Measuring Device

Potentiameters:

Encoders:

(not using incremental as they reset to zero position when turned off)

Using absolute

email team


Working with Incremental Encoder


Solution 1:

Just sending change in position (rotation angle to be precise) to the actual arm's stepper motor


Solution 2:

Working with the actual position of each joint on the controller.

2a) 

Have the control arm configured such that each joint is in the zero position (or any fixed position) when the control arm is turned on. This way the control knows its exact location without any additional work.

  • Advantage: No complicated work involving using the index pulse or something else to get the initial location of the control arm
  • Disadvantage: Requires that the control arm be in a specific orientation every time it is turned on.


2b)

Use the index pulse in some way to get the initial position of the control arm.