Difference between revisions of "Reddy Update"
From IntRoLab
(→Motor Controllers) |
(→Cabling Improvements) |
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* Cables are now better organized | * Cables are now better organized | ||
* Added connectors inside the arm to disconnect motors easily for repairs | * Added connectors inside the arm to disconnect motors easily for repairs | ||
| + | * Signals are color coded as follow | ||
| + | ** Red | ||
| + | ** Green | ||
| + | ** (TODO ADD DOCUMENTATION) | ||
= Head Improvements = | = Head Improvements = | ||
Revision as of 13:19, 28 July 2009
Contents
Schedule
| Week 31, July 27 - August 1 |
|
| Week 32, August 3 - August 9 |
|
Arm Improvements
Motor PCB
Motor Controllers
- A new motor drive that can connect up to 4 motors have been designed.
- A new adjustable bracket for fixing the drive to the side of the robot have been designed.
Cabling Improvements
- Cables are now better organized
- Added connectors inside the arm to disconnect motors easily for repairs
- Signals are color coded as follow
- Red
- Green
- (TODO ADD DOCUMENTATION)
Head Improvements
File:ReddyGravityCompensation.jpg
Motor controllers for head movement (YES-NO)
- Same motor controllers were used for the neck to add overheating protection and better feedback / control
Tuning the motor controller
RS-232 protocol enhancements
CAN command added
Future Improvements
- Single 12V power supply could be useful for direct connection to Pioneer robots. A 12V-->8.5V DC-DC (100W) converter is required for this operation. This item can be ordered at Vicor. 8.5V batteries would then be useless.
