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Project:UMI RTX Robot arm: Difference between revisions
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[[File:UMI_Robot_Arm_popular_mechanics.png|thumb|UMI robot arm in its heyday]] | [[File:UMI_Robot_Arm_popular_mechanics.png|thumb|UMI robot arm in its heyday]] | ||
[[File: | [[File:UMI_RTX_half_way.jpg|thumb|UMI RTX half way there!]] | ||
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** 6 interrupt inputs (dual optical encoders on each joint, half rez) pepelisu | ** 6 interrupt inputs (dual optical encoders on each joint, half rez) pepelisu | ||
* Check and service the Z-axis motor to solve the occasional locking issue | |||
* Replace the broken cover on the elbow-to-wrist with a new one | * Replace the broken cover on the elbow-to-wrist with a new one | ||
* Sand down and repaint! | * Sand down and repaint! | ||
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==== Update 12/06/2013 ==== | ==== Update 12/06/2013 ==== | ||
[[User:Mentar|Mentar]]: We've figured out the pinouts on the Z-axis control board, a basic URDF model has been created. Discussed handling of the interrupts by the arduino and PID control. | [[User:Mentar|Mentar]]: We've figured out the pinouts on the Z-axis control board, a basic URDF model has been created. Discussed handling of the interrupts by the arduino and PID control. The Z-axis is not responsive sometimes so may need a commutator clean. | ||
