Hi All, I’m working on a 3D Printed Robot Arm using the Dagor ESP32 board running SimpleFOC. As you can see in the video I’ve got it far enough along that I’m testing motion on each of the 6 axes. [3D Printed Robot Arm Figure Out Accel/Decel] My approach for motion on the robot arm is…

[image] JorgeMaker: little beast, something like this @JorgeMaker Would that motor run on 12V? the specs say 5V. I don’t have any gimbal motor experience.

Not sure … the spec says you can get "Torque: 4970g @ 5V & 0.75A " but do not specify any upper limit as far as I know. I guess there has to be an upper limit in terms of current and voltage or a any combination of both, but I couldn’t find it. This brand offers a very poor/undefinded specificat…

This is the motor I’m using Gartt ML5010 @ $33/each in bulk. Amazon.com All gears are 3D printed. There’s a category in @David_Gonzalez 's Discord for this robot arm. Discord [gears]

You have 0.24mm^2 enamelled copper wire, if I see it correctly - so there will be a max current rating for this. And the insulation will have a max voltage, but this will be much higher than 12V, I think. So 12V will be 1.25A or thereabouts - the motor will get hot after a while, but it should be f…

I’d like to keep this thread focused on the acceleration / deceleration algorithm as I really could use the help of this community on that.

On the original topic, I found a few links in my list about motion control for arms: [image] GitHub - glumb/robot-gui: A three.js based 3D robot interface. A three.js based 3D robot interface. [image] GitHub - gkjohnson/closed-chain-ik-…

Many many years without using Matlab but it seems that trajectory planning can be used. If you get a file with calculated target positions, you can use a Python script to reproduce those calculated paths following your desired profiles. … It would be great if such a thing was done in SimpleFOC, but…

I am nut sure it will apply to your specific need, but in the OpenPnp Community there has been some development on S-curve motion control driven mainly by Mark. Take a look in the source.

Making progress here with that post from @JorgeMaker regarding the Trapezoidal Path Planner. This algorithm does seem to be able to generate the position the SimpleFOC device should be at for any arbitrary time and calculates that position based on an acceleration / deceleration profile. I’ve heavi…

Got it working! Thanks for all the help from this thread. I’m amazed how quickly it came together. You can see in the video how well it works. Examples: G30 to move to position 30 (rads) GV100 to change velocity to 100 (rads/s) GA5 to change acceleration to 5 (rads/s/s) [Accel Decel Pla…

3D Printed Robot Arm - Acceleration / Deceleration Planner Algorithm?

runger June 4, 2021, 7:56pm 12

On the original topic, I found a few links in my list about motion control for arms:

http://mechdesigner.support/index.htm?md-motiondesigner-link-motion.htm