Скачать или смотреть surprising accuracy using cheap motors, smooth linear motion (acceleration control is a lot of math)

Smooth, accurate, continuous motion is difficult to get with cheap servomotors and kinematics, so we had to implement something special.

In order to counter backlash, the geometry of the linkages keeps the center of mass behind the base, meaning ALL servos are preloaded by gravity, therefore there's no position uncertainty.

In order to minimize interference from the servo’s internal PID, my kinematic solver takes differential constraints into consideration to ensure that the planned trajectory is feasible within the acceleration limits.

With a lot of math, different control algorithms, and a new mechanical design, I hope to show that even cheap servomotors can be used to create a good robot arm.

If you want to learn more on your own, I learned about this from chapter 13 and chapter 14 of a book called Planning Algorithms by Steven Lavelle.

Ideally I will make this system available as an open source robotics kit for people to build and experiment with, details will be on Patreon!