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A little weekend side-project, trying out gravity comp with PWM controls on an so-101 It holds but feels very stiff, the giant gear ratios probably impact backdriveability. Will see if any AI/SW tricks can mitigate, would prefer keeping standard servos Pepijn 🦾

16,106 Aufrufe • vor 2 Monaten •via X (Twitter)

11 Kommentare

Profilbild von Jason Liu
Jason Liuvor 2 Monaten

@pepijn2233 stiction compensation can help a lot if you haven’t tried it already

Profilbild von Embedr
Embedrvor 2 Monaten

@pepijn2233 that limb is looking dangerously close to gaining free will

Profilbild von Paolo AI
Paolo AIvor 2 Monaten

@pepijn2233 Let's compare notes I did the same for the ElRobot arm.

Profilbild von Ville🤖
Ville🤖vor 2 Monaten

@pepijn2233 > "these motors only have position control" this is not right for feetechs, they offer direct pwm control as well which allows us to approximate voltage & current control. this is the correct way to implement gravity comp rather than using position control

Profilbild von Paolo AI
Paolo AIvor 2 Monaten

@pepijn2233 I like your approach with PWM I am going to test it too.

Profilbild von atharva ☆
atharva ☆vor 2 Monaten

@pepijn2233 share code I think I can help you with this

Profilbild von Ville🤖
Ville🤖vor 2 Monaten

@pepijn2233 I will eventually but it's not ready yet, what part might you be able to help out with?

Profilbild von Praveen Selvaraj
Praveen Selvarajvor 2 Monaten

@pepijn2233 should make teleop easier right, esp bimanual ?

Profilbild von Ville🤖
Ville🤖vor 2 Monaten

@pepijn2233 it's step 1/n on that journey and I'm not sure if all steps are feasible on these motors

Profilbild von Makr3D
Makr3Dvor 2 Monaten

@pepijn2233 The standard servos may still be workable if the gravity term stays deliberately conservative. Have you measured backdrive torque across the joint range yet? That would help separate gearbox friction from controller stiffness before adding more software compensation.

Profilbild von Yuv Bindal
Yuv Bindalvor 1 Monat

@pepijn2233 gravity comp on a so101 is fiddly. connect sometime

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