Monday, 9 September 2013

First arm test

Just a quick video of the right arm, testing the shoulder tilt and lift motors. The good news is it held up and nothing broke or burnt out the lift motor only goes up half way  at the moment I have to reset the pot zero and change the start point and adjust the PID controller for the weight of the arm but the speed of the lift is good and the tilt is a bit slow I have to change the gear ratio from 3:1 to 2:1 but that is for the next model actuator. Part of the test was to compare directions of the real robot to the model in RVIZ the tilt axis is reversed and lift is going the right way and the angles look close next test will be with all the servos and the lift with full travel.
The base is not very stable but the new base is almost finished and is shown in the model in RVIZ

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