I'm currently working on a project to control an AK70-10 motor using Python via Arduino.
I’ve successfully controlled the motor in MIT Mode.
Now, I’m planning to implement a gravity compensation function.
Does anyone have any advice or suggestions?
Below is the connection diagram.
Difference is that I'm using CAN Bus shield rather than MCP2515 CAN Bus.
Below is the Python GUI code & Arduino Code.
Python_Control_Modified.ino (7.4 KB)
motorGUI.py (24.9 KB)
I'm using USB for serial communication between python and arduino.
And what might that function be?
I'm also curious to learn about "gravity compensation".
@jremington @Paul_KD7HB
As I asked to Chat GPT, the answer is below.
Gravity compensation in robotics is a control technique used to counteract the effect of gravity on a robot's joints or end-effector, so that the robot can hold a desired position or move more naturally and efficiently—as if the weight of the robot or its payload is "cancelled out." or "unweighted."
It can hold the desired position just like servo motor.
But unlike servo motor that cannot move with force, it can move the position while support the weight that feel like nothing on it.
So the effect changes with different gravitation forces? Stronger compensation in Death Valley that in Denver Colorado?
Well... I'm not sure about it...
Actually, I don't understand about what you saying.
Gravity is based on the distance from the center of the earth.
I understand what you mean.
But gravity compensation actually counter the torque that produced by the torque made by weight which is using below equation.
Torque = length from the center of motor * weight * gravity acceleration (9.8 or 10m/s^2)
I know you are saying about Universal Gravitation but I'm using Gravity that use F = mg.
@Paul_KD7HB
Here is the example of Gravity Compensation Mechanism.
Sounds like gravity could be just another term to take into account, in the inverse kinematics calculation for the movement of the end effector.
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