Robotic Arm Electrical System 2022 - Monash Nova Rover
Автор: Monash Nova Rover
Загружено: 2022-09-29
Просмотров: 1823
Описание:
In depth exploration of the actuators, motor drivers and sensors used on the arm and how we control them. Written and presented by Will De La Rue
Highly recommend checking out the workshop on our CAN bus Motor Drivers (CMDs) as there is some assumed knowledge from there • CAN Motor Drivers Workshop - Monash Nova R...
You may also want to watch the workshop on brushed and brushless motors • Brushed and Brushless Motors Workshop - Mo...
Slides: https://docs.google.com/presentation/...
Timestamps:
0:00 Intro
0:39 Arm Actuators
1:17 Anatomy of One Joint
2:42 Encoders and Resolvers
7:26 PWM Motor Control
8:44 Velocity Control
10:58 Inverse Kinematics Control
13:57 RS485 Bus for Resolvers
16:55 Meet the Boards - CMDs
17:42 Meet the Boards - CMD Carrier
19:44 Meet the Boards - VREG Board
20:34 Meet the Boards - TUB (Tube Hub)
21:38 Meet the Boards - WristBreak
24:13 PCB Structure
27:24 Arm Wiring
33:05 Lower Joint Detail
35:25 Wrist Detail
38:00 USB
43:22 Upcoming Brushless Arm Control
50:00 Final Questions
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