Robot Control software (for initial testing)

A project log for 3D Printed Robot Actuator

A high speed and high torque robotic actuator using low-cost brushless motors, custom controller, 3D printed parts and bearings.

Paul Gould • 10/13/2018 at 16:09•4 Comments

Visual Studio and C# in .Net was used to write a simple test program. An X,Y foot position is generated, converted to hip and knee angles using Inverse Kinematics and sent to the serial to CAN converter (spare PSOC actuator controller). These packets are addressed to the two robot actuators to move to the required position. A second mode just returns Joint positions.

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Series Elastic Actuator - CAD

10/13/2018 at 16:02 • 4 comments

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Arduino Brushless FOC Controller - Development

10/20/2018 at 08:08 • 4 comments

Discussions

muhammadpanji321 wrote 04/15/2019 at 20:38

could you give me this c# project?. pleasee read

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Paul Gould wrote 10/18/2018 at 23:50

The grey area is like a recording of where it has been previously (Grey = old_Red).

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adam.stibilj wrote 10/19/2018 at 12:32

Ah okay. Makes sense

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adam.stibilj wrote 10/18/2018 at 22:23

Very nice work, I was wondering how you find the shape of that grey area I assume is your range of motion. I am trying to do a similar thing. Are you calculating the shape or simply finding the limits by driving the leg around and recording them?

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Robot Control software (for initial testing)

Series Elastic Actuator - CAD

Arduino Brushless FOC Controller - Development

Discussions

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