Friday, 22 February 2013

Harmonic Drive

Well it's be a while since the last update after the holidays they a quick trip overseas
it time to get back to work. Robbies shoulder lift joint now works the PID controller works under load. The problem was the arduino was doing to much 2 PID controllers and 4 servos was to much so now I’m just going to use one arduino per joint and communication will be do with I2C. Using the toner transfer method I can make the PCB's required for a good price. That just leaves the gear box's going to try using a harmonic gearbox from thingiverse 16:1 reduction should give enough torque.

The ROS drive now publishes motor states and a Joint_state publisber now publishes all the joints and the dynamixels as well


  1. hello peter i find you projet so nice so have you video on you tubes about your robot?
    i don't understand do you want use a drill motor about your robot?
    you can saw my blog about my robot here

  2. the drill i use to clean up the gearbox parts rather then using the servo
    I dont have any video at the moment My plan is to get the arm to move using the joint controller from ROS (this part works) then use the moveit package from ROS to move the hand to the target. But right now i have a lot of servo problems