Project:UMI RTX Robot arm: Difference between revisions

Project:UMI RTX Robot arm (view source)

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 == Work to do ==
-* Design an arduino based board to replace the ancient control board
-** 6 pwm channels outputs (bi-directional, optionally with current sensing) tmlyk
-** 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
+* Software
-* Sand down and repaint!
+** PID code for the motors, and use of h-bridge enables to make the robot arm more efficient. (Lev)
+** Write the ROS side of the bridge that figures out the counters and (if the current sensing is implemented) auto calibration. (Eugene)
+* Hardware
+** Replace the dead encoders
+** Add current sensing to the h-bridge boards (Luis?)
+** Make an enclosure for the back of the wrist
+** Make the elbow cover (Paddy still has the pieces from the old one)
+** Check the Z-axis stalling, probably needs a commutator clean, and belt tightening
+** Sand down and repaint!
 == Updates ==