I realize the model using Simulink (Matlab) but in order to control the system I need to be able to access to the voltage that the servo is using in order to generate the appropriate torque that make move the plate.
I realize the model using Simulink (Matlab) but in order to control the system I need to be able to access to the voltage that the servo is using in order to generate the appropriate torque that make move the plate.
They use a load cell in order to measure the torque, my concern is about where should I put the strain gauge so to have the best measure of the torque
I was thinking to position the strain gauge under the suction cup
Any advise is welcome as any others ideas
Thank You
Those are hobby servos, not servomotors in the traditional sense.
The current drawn by the servo will be dependent on the torque, but won't tell you the direction. Small hobby
servos don't have current sensors built in so you can't do better than that.
And alas the current drawn by the servo also depends on its acceleration which will make it hard to get a
clean torque indication, but the lack of direction is a killer, you can't do things this way.
By disassembling the thing and getting the motor wires broken out to monitor might allow you to figure out
the direction though - low-pass filter the difference in motor terminal voltages to get an indication of drive
strength and direction. This will also match the torque to some extent (though current is more accurate).
