New Control System

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
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

incremental loose there start positions while absolute loose there start position
accuracy: 180 > ppr > 360 approx (ppr: pulses per revolution)
find encoders on digikey
Magnetic:
- the magnet is attached to the axle
- https://www.broadcom.com/products/motion-control-encoders/magnetic-encoders/aeat-6600-t16

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.