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Project:UMI RTX Robot arm: Difference between revisions
From London Hackspace Wiki
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* Software | * Software | ||
** PID code for the motors, and use of h-bridge enables to make the robot arm more efficient. (Lev) | ** PID code for the motors, and use of h-bridge enables to make the robot arm more efficient. (Lev started, needs finishing) | ||
** Write the ROS side of the bridge that figures out the counters and (if the current sensing is implemented) auto calibration. ( | ** Write the ROS side of the bridge that figures out the counters and (if the current sensing is implemented) auto calibration. (Mentar + more?) | ||
* Hardware | * Hardware | ||
** Add current sensing to the h-bridge boards | |||
** Add current sensing to the h-bridge boards | |||
** Make an enclosure for the back of the wrist | ** Make an enclosure for the back of the wrist | ||
** Make the elbow cover (Paddy still has the pieces from the old one) | ** Make the elbow cover (Paddy still has the pieces from the old one) | ||
** Check the Z-axis stalling, probably needs a commutator clean | ** Check the Z-axis stalling, probably needs a commutator clean(seems ok now) | ||
** Sand down and repaint! | ** Sand down and repaint! | ||
