I tried it and it didn't work. Then I realized the wire in my left hand should have been in my mouth and vice versa. The wire in my right hand was correct. I would have thought that such an error would just make it turn the opposite way.
@@jamiekawabata7101 You have to put the first wire in the ear, second in mouth, third in the a*s... no, wait... first a*s, second ear, third ... baahhh s*it ;-)
This is exactly what I have wanted for AGES. A mini robotic arm that you move to control a larger one with feedback. Its such a brilliant solution too.
Very nice!! In a DC electric motor the voltage and current have phase shift due to back EMF which depends on the angular speed of the motor. It generates by the Lenz law about an inductance with a thru current moving in a magnetic field. In the application here described the angular speed is almost zero so the back EMF is negligible with respect to the applied voltage. In this conditions the motor is like an electrical resistance (almost without inductance effects) and Voltage and Current are not phase shifted anymore. This reveals why the control works fine acting on voltage like it is acting on current. And there is no need of a driver with a control loop on current.
Finally something on TH-cam who ACTUALLY understands AND properly explains in simple terms how PWM works ✔ Your channel just gained another subscriber. 👍
I love the idea of the "magic line" of code in the telepresence demonstration. It's fascinating how such simple rules like in the "boid algorithm" can lead to such rich, emergent behavior.
This is the best channel for understanding robotics, brush-less motors and other stuff. The quality of knowledge given here is best. Keep uploading such useful videos God bless you sir.
Oh, I almost missed what you were saying about the tele presence and force feedback. I hope you get to explore that idea more in the future. Thanks for making these videos, I appreaciate your enthusiasm! Keep up the great work, and stay safe!
Amazing explanation; I never learned in highschool that you can produce a magnetic field in any direction just by altering 3 sine waves of current and it all just clicked in 5 minutes into watching the video.
Third one here. You have really blown me away with the basic test rigs that you have made, and the data on mini cheetah clones...etc. I cannot wait for you to get some more subscribers to see what mental stuff you come up with!
Very good video. Very clear explanation of the phase control and nice, simple Arduino code. I really love the haptic feedback demonstration. One thing to watch for as you continue to experiment: closing a control loop around the SPI output will work well at slow speeds, but it gets more difficult at higher motor speeds because of the latency in reading the SPI. At high RPM, by the time you get the position from SPI, you only know where the motor *was*, not where it *is now*. You may need some kind of predictive model based on RPM to get good control at higher RPM.
Great comment! Thank you for this info. This is very important to know. I knew that with this setup I would not get high speed. First, Arduino Uno is not the fastest microcontroller. Second, I don’t account for the phase shift between current and voltage (Arduino send voltage, but motor reacts on current). And your argument is the third reason which will limit the speed. I really like youtube for this: many people gives nice ideas, and explanations in comments! :) Thank you again!
What happens if my driver cannot output enough amps to the motor? Can i use a 5 A rated driver to run a 20A rated motor, atleast as a test set-up? Can i make modifications to the driver so that it can handle higher current?
I think this is the fastest I have subscribed to a channel, after watching just one video! Really nice content, and presented very clearly, with a bit of humour ;)
Very good lesson thank You .Can You make video how to controll 6,7 axis robotic arm with any simple and affordable controll board base on free software :)maybe u know any easy to use software for beginners. Maybe Rasberry Pi with any beginner friendly software :)
Trinamic also has a new BOB coming out that has a complete FOC solution onboard for up to 10A. It's called the TMC4671+TMC6100-BOB But it's not available yet.
You can buy FOC controls from a bunch of suppliers for a bunch of power envelopes. VESC, ODrive and Roboteqs are all good, lightweight, and high current. At different prices :-)
Very interesting video indeed! That last demo also looks like it would be useful as an electronic differential for RC cars, or for synchronizing legs when jumping with dog type robots.
Awesome presentation. Well structured and presented. Really enjoyed this even though I knew most of the stuff, I never thought of doing this telepresent effect with them. BUT maybe make them sing next time both with frequency modulation and PWM width modulation, that should be interesting.
You could build a tele-presence controller to control you robot arm. Something you would wear to control the robot arm, and get feedback from it. I have been following the arm project, and this would be an interesting way to control it. Keep up the great work.
really interesting! i did know about the wiggle powered brushless motors, but i hadn't realised the main phase is assisted by the 'other' phases too, with your graph it was super obvious, thanks so much! (i'm about to plug in my odrive eeeeek wish me luck!). cheers o/
Sorry for this. I actually downloaded paper about this. But it not really easy. I am trying to understand it. And if I will, I should make a video about it.
This would make a great way to control a set of remote waldo's like for instance controlling the arms of a deep-sea robot from a ship on the surface. It would make delicate recovery work a bit easier.
Very interesting - I'm going to add this to my list of projects/experiments, as it's been something I've been curious to try my hand at for a long time too.
I very happy to find your channel, i really like to hear about NASA technologies! And my wife accepted your channel, so I can watch your videos all days ,any time! :D
If this "telepresence" could be used over radio (assuming lag is low enough). You could use it to add force-feedback to RC cars and "feel" the road :D You should definitely do this project!
This is a very good idea! Not just cars, think RC airplanes with force feedback stick control so you can feel turbulence and stall conditions, or racing drones where you feel the inertia due to sudden direction changes. Combined with first-person view, it will be a totally immersive experience.
Telepresence is interesting and works well for a 1:1 input:output, but in an actual steer-by-wire setup in an actual vehicle, how would a motor on a steering rack effect the telepresence on a directly driven steering wheel? I know some production vehicles do have this, but I've always heard steer-by-wire is an odd feeling form of driving a car, and I've always wondered if the direct input but indirect output has anything to do with this. I'm sure there's a way to even out initial input and final output, such as 1:x for the control and y:1 for the actuation, thus having a total 1:1, but I have a feeling that steer-by-wire would still feel odd if initial input and final output still had a theoretical 1:1; probably due to the slight latency of electronics that you don't get with direct actuation. I'm also curious how telepresence in brakes work, or brake-by-wire, as the output goes to a hydraulic setup, thus again being indirect. Again, some production vehicles have this, but I've always heard it feels entirely different compared to brakes directly actuated by the pedal.
skyentific, of all your videos, this ONE IS THE MOST informative+CHALLENGING, i watched this video multiple times, noticed in this setup, you did not use a driver ( like vnh2sp30 or vnh5019...forget those l298n ), this raised my question, in your setup, can this be applied to LARGE torque servos, like super500??? thanks again, PLEASE STAY HEALTHY !!!
Thanks for the interesting video! I'd be interested in watching videos on how brushless motors are designed. How does design for a target torque, rpm, and/or efficiency? How many windings, polarpairs and why? Thanks again!
You could build a mannequin and put a brushless motor on each joint which echoes a motor on each joint of the robot arm. Then connect each motor pair by wire or UHF and where you move the mannequin limb then you would get an echoed movement in the Robot. BTW...that technique is a very old one and the motors are called "Synchro Motors" and was used in Steering Gyro's as far back as WW2 in aircraft and ships gyro compasses
It was delightful. I love the enthusiasm and the clear presentation. I presume you are using PWM because it's natively supported by Arduino, but I'd probably try PDM (Sigma-Delta) instead which has some advantages. I'd love to see a further development, touching on things like accounting for momentum and the current phase shift, in the same easy going presentation.
Ну, акцент замечают многие. Но, кому-то он даже нравится (если судить по коментам ниже). Признайтесь честно, есть куча каналов с идеальным английским. Но смотрим мы почему-то именно этот... Качество контента решает!
Я хорошо понимаю и северных англичан, и американцев южных штатов и даже французов с индусами, когда они говорят на английском. Поверь, мало кто в видео про робототехнику вкладывает столько инженерной мысли, как автор этого канала. Все как-то спешат слепить в одну кучу все изобретения человечества, доступные на АлиЭкспресс, и поскорее выложить результат в сеть. Вот и выходят или дрожащие поделки на сервах или монстры по цене однокомнатной квартиры. Наверное, меня тоже учили, что сначала бы разобраться с теорией вопроса. Тогда и применять потом как-то приятней. Хотя есть конечно толковые каналы во многих странах. Желаю всем добра, а каналу развития.
This channel is very underrated. Your style is unique, your content is high-quality, and your designs are innovative!
Thank you a lot for such kind words. I really appreciate this!
Aye, he's like that one teacher you'd listen to because he could actually hold your attention.
Yes, TH-cam likes drama and BS, not actual valuable information,👋
dr jackal Totally agree
I liked your body controller haha!
:))))
I tried it and it didn't work. Then I realized the wire in my left hand should have been in my mouth and vice versa. The wire in my right hand was correct. I would have thought that such an error would just make it turn the opposite way.
what sorcery is this? hahaha so fun
@@jamiekawabata7101 You have to put the first wire in the ear, second in mouth, third in the a*s... no, wait... first a*s, second ear, third ... baahhh s*it ;-)
@@virkotho5057 You must swap them rapidly to drive the different coils;)
This is one of my "several comments" on this video to help YT get the word out about this awesome content.
This is exactly what I have wanted for AGES. A mini robotic arm that you move to control a larger one with feedback. Its such a brilliant solution too.
I am new to electronics and planning to try the method of running the motor with muscle power. But I have not seen that method before.
Very nice!! In a DC electric motor the voltage and current have phase shift due to back EMF which depends on the angular speed of the motor. It generates by the Lenz law about an inductance with a thru current moving in a magnetic field. In the application here described the angular speed is almost zero so the back EMF is negligible with respect to the applied voltage. In this conditions the motor is like an electrical resistance (almost without inductance effects) and Voltage and Current are not phase shifted anymore. This reveals why the control works fine acting on voltage like it is acting on current. And there is no need of a driver with a control loop on current.
Thanks, you’re are a great teacher
I absolutely love your russian/french accent, its beyond awesome!
Finally something on TH-cam who ACTUALLY understands AND properly explains in simple terms how PWM works ✔
Your channel just gained another subscriber. 👍
I love the idea of the "magic line" of code in the telepresence demonstration.
It's fascinating how such simple rules like in the "boid algorithm" can lead to such rich, emergent behavior.
Wow. With that technique, it can be a good feedback for robotic remote controller and vr gloves...
This is the best channel for understanding robotics, brush-less motors and other stuff.
The quality of knowledge given here is best.
Keep uploading such useful videos God bless you sir.
Your 3d printed parts are so clean and smooth!
This was a great episode. I loved lifting the lid on what the motor controller is and does. More of this please!
Oh, I almost missed what you were saying about the tele presence and force feedback. I hope you get to explore that idea more in the future. Thanks for making these videos, I appreaciate your enthusiasm! Keep up the great work, and stay safe!
Absolutely Excellent explanation. Thanks👏
Amazing explanation; I never learned in highschool that you can produce a magnetic field in any direction just by altering 3 sine waves of current and it all just clicked in 5 minutes into watching the video.
Very interesting. I really liked the telepresence implementation.
Loved your work... keep making such detailed videos and keep explaining code in detail.. it helps a lot.
Absolutely fantastic. This is exactly what I was looking for. I'm so glad I found this channel. Well done and thank you.
Wow thanks for this real explanation of how to control brushless (three-phase) motors!!
this really makes me want to experiment with this motors!!
Glad to hear this! Thank you!
Third one here. You have really blown me away with the basic test rigs that you have made, and the data on mini cheetah clones...etc. I cannot wait for you to get some more subscribers to see what mental stuff you come up with!
Great tutorial 👍 love the steer by wire explanation
Always very interesting, so clearly presented, narrated, explained, impressive design, many thank yous :)
Thank you a lot, for such kind comment!
Very clear breakdown of concepts
Very good video. Very clear explanation of the phase control and nice, simple Arduino code. I really love the haptic feedback demonstration. One thing to watch for as you continue to experiment: closing a control loop around the SPI output will work well at slow speeds, but it gets more difficult at higher motor speeds because of the latency in reading the SPI. At high RPM, by the time you get the position from SPI, you only know where the motor *was*, not where it *is now*. You may need some kind of predictive model based on RPM to get good control at higher RPM.
Great comment! Thank you for this info. This is very important to know. I knew that with this setup I would not get high speed. First, Arduino Uno is not the fastest microcontroller. Second, I don’t account for the phase shift between current and voltage (Arduino send voltage, but motor reacts on current). And your argument is the third reason which will limit the speed. I really like youtube for this: many people gives nice ideas, and explanations in comments! :) Thank you again!
Really love the video! I'm going to show this to colleagues who need help with motor control.
That pun was .... terrible!
Thank you!
Never imagined that the amount of electricity muscles make is enough to turn a motor for more than some single millimeter at maximum.
im pretty sure that was a joke
A stage trick 😂
I was so amazed! Lets go to learn something about our body
everyone film yourself and post a video.!!! I can see this being the next banger tik tok
@@engineeredaf1920 Imagine the world if everybody shared the best of themselves, instead of being subjected to the worst on the evening news? Tik tok
What happens if my driver cannot output enough amps to the motor? Can i use a 5 A rated driver to run a 20A rated motor, atleast as a test set-up? Can i make modifications to the driver so that it can handle higher current?
I think this is the fastest I have subscribed to a channel, after watching just one video! Really nice content, and presented very clearly, with a bit of humour ;)
Thank you and welcome! :)
Very good lesson thank You .Can You make video how to controll 6,7 axis robotic arm with any simple and affordable controll board base on free software :)maybe u know any easy to use software for beginners. Maybe Rasberry Pi with any beginner friendly software :)
Very nice project! I can find a lot of use for the force feedback which gives a rudimentary form of sensation.
Trinamic also has a new BOB coming out that has a complete FOC solution onboard for up to 10A. It's called the TMC4671+TMC6100-BOB But it's not available yet.
This is cool. Thank you for info. I will check.
You can buy FOC controls from a bunch of suppliers for a bunch of power envelopes.
VESC, ODrive and Roboteqs are all good, lightweight, and high current. At different prices :-)
Just found the channel and like the video post. Many in my hobby are starting to move to brushless motor setups and this is certainly helpful!
Very interesting video indeed! That last demo also looks like it would be useful as an electronic differential for RC cars, or for synchronizing legs when jumping with dog type robots.
Yes, completely agree. I started this entire video only for this demo :)
This guy deserves much more, he's videos are high-class!!
Beautiful 3D printed jogs you have. I admire your design skills. Keep up the good work and thanks for sharing this great content.
Thank you. I just started learning this and anted to tell you that your a really good teacher.
You're a master at printing motor mounts. Great video, very interesting.
Wow, amazing, I've been always interested in bldc motors & their controllers, your video have me some good insights into it, thanks
This is Awesome! It is the funniest brushless motor video I have ever seen. Great work. Wonderful!
Thanks a lot for this video ! Really comprehensive !
Thank you so very much for explaining the code in detail Ive been stuck on it the last few days
Awesome presentation. Well structured and presented. Really enjoyed this even though I knew most of the stuff, I never thought of doing this telepresent effect with them. BUT maybe make them sing next time both with frequency modulation and PWM width modulation, that should be interesting.
Hey man! Yet another very cool video!
Thank you! Nice to hear this.
You could build a tele-presence controller to control you robot arm. Something you would wear to control the robot arm, and get feedback from it. I have been following the arm project, and this would be an interesting way to control it. Keep up the great work.
I appreciate the comedic segment.
This Video is better than the once before. I have learned a lot. Please do more such videos!
Great job!
Thank you!
This is awesome! Episode by episode is getting better and better! Keep goin'!
Love this. My next project for sure!
really interesting! i did know about the wiggle powered brushless motors, but i hadn't realised the main phase is assisted by the 'other' phases too, with your graph it was super obvious, thanks so much! (i'm about to plug in my odrive eeeeek wish me luck!). cheers o/
Skyentific: "and how to calculate the phase difference..."
Me: yes! I've always wanted to know!
Skyentific: "...is beyond my knowledge"
Me: :cry:
Sorry for this. I actually downloaded paper about this. But it not really easy. I am trying to understand it. And if I will, I should make a video about it.
@@ParabolicLabs Yes, and, i guess, you can easily create same precalculated array of PWM values in Excel or Calc.
@@Skyentific yes! Definitely make a video! I will watch it. I probably won't understand it, but I will watch it :D
@@ParabolicLabs Title of the paper plz?
most significant youtube channel.
Thank you, very practical
This would make a great way to control a set of remote waldo's like for instance controlling the arms of a deep-sea robot from a ship on the surface. It would make delicate recovery work a bit easier.
Love your work! Thanking you:)
You could make a Waldo, control your robot arms with some gloves/arm position sensors. I've always wanted to have those
Very interesting and very clear, thanks for the video !
very interesting, i love playing with drivers, motors, magnetics, currents and encoders!!!
WHOA SO THATS HOW FORCE FEEDBACK IS DONE! amazing
Great ! With a sense of humor !! I like it ;-)
Very interesting - I'm going to add this to my list of projects/experiments, as it's been something I've been curious to try my hand at for a long time too.
I very happy to find your channel, i really like to hear about NASA technologies! And my wife accepted your channel, so I can watch your videos all days ,any time! :D
Congrats man! Very good video
This is really awesome, Odrive is very expensive and overkill for getting started. This is a much more accessible option
This is a funny video :) Thanks for sharing.
Very good video, very clear, as usual.
Thank you very much.
Interesting stuff. Cant wait for the near future when diy boston dynamics dogs are everywhere
1.5x playback everything - thank me later:- Who's going to clean up the yellow poo on your lawn? :o)
Zis Channel iz very educative ,thanks Sir
Liked the glasses in the beginning!
If this "telepresence" could be used over radio (assuming lag is low enough). You could use it to add force-feedback to RC cars and "feel" the road :D
You should definitely do this project!
It can be used over radio, and it is possible to make the lag small, as there is no much data to transfer. Great idea!
This is a very good idea! Not just cars, think RC airplanes with force feedback stick control so you can feel turbulence and stall conditions, or racing drones where you feel the inertia due to sudden direction changes. Combined with first-person view, it will be a totally immersive experience.
I love this video so much.
Cool video, look forward to the next one!
Thank you!
You're amazing. Thank you very much!
WOW !!!! This with mouth is very interesting! Thank you very much for this is the "trick" I am going to use when teaching children electronics.
Telepresence is interesting and works well for a 1:1 input:output, but in an actual steer-by-wire setup in an actual vehicle, how would a motor on a steering rack effect the telepresence on a directly driven steering wheel? I know some production vehicles do have this, but I've always heard steer-by-wire is an odd feeling form of driving a car, and I've always wondered if the direct input but indirect output has anything to do with this. I'm sure there's a way to even out initial input and final output, such as 1:x for the control and y:1 for the actuation, thus having a total 1:1, but I have a feeling that steer-by-wire would still feel odd if initial input and final output still had a theoretical 1:1; probably due to the slight latency of electronics that you don't get with direct actuation.
I'm also curious how telepresence in brakes work, or brake-by-wire, as the output goes to a hydraulic setup, thus again being indirect. Again, some production vehicles have this, but I've always heard it feels entirely different compared to brakes directly actuated by the pedal.
Great video, it's good to see a simple explanation.
skyentific, of all your videos, this ONE IS THE MOST informative+CHALLENGING, i watched this video
multiple times, noticed in this setup, you did not use a driver ( like vnh2sp30 or vnh5019...forget those l298n ), this raised my question, in your setup, can this be applied to LARGE torque servos, like super500??? thanks again, PLEASE STAY HEALTHY !!!
Thanks for the interesting video! I'd be interested in watching videos on how brushless motors are designed. How does design for a target torque, rpm, and/or efficiency? How many windings, polarpairs and why? Thanks again!
Really cool, I enjoyed this video for sure!
Great reference video
You could build a mannequin and put a brushless motor on each joint which echoes a motor on each joint of the robot arm. Then connect each motor pair by wire or UHF and where you move the mannequin limb then you would get an echoed movement in the Robot. BTW...that technique is a very old one and the motors are called "Synchro Motors" and was used in Steering Gyro's as far back as WW2 in aircraft and ships gyro compasses
Very cool video.
The end result is very interesting.
Thanks for the video! it inspired me to use this in my own projects.
3:24 This is what makes time travel possible: the flux capacitor!
maaaaaan i love your content!!!!!!!! Regards from Colombia!!!!!!
Thanks for this very interesting video :)
Thank you for watching and for comment. :)
The plastic and metal pieces look flowless! Can you make a video with the tools and materials that you use for cutting and printing?
Cool explanation! thank You!
It was delightful. I love the enthusiasm and the clear presentation. I presume you are using PWM because it's natively supported by Arduino, but I'd probably try PDM (Sigma-Delta) instead which has some advantages. I'd love to see a further development, touching on things like accounting for momentum and the current phase shift, in the same easy going presentation.
Nice video, good quality and fun but still very relevant and usefull!
1:26 man 😂😂😂
The editing is easily noticable 😂😂😂
nice. this looks like one of those driving school car steering wheels!
Really interesting, good video and nice project.
Loved, thank you!
Конечно, есть наше традиционное "лэт ми спик фром май харт", но контент шикарен 👍🏻
Угадайте территорию, на которой придают значение акценту? Бинго! Я уверен - вы угадали.
@@mishich666, везде придают, потому что бывают акценты, которые сложно понять даже носителям
Ну, акцент замечают многие. Но, кому-то он даже нравится (если судить по коментам ниже). Признайтесь честно, есть куча каналов с идеальным английским. Но смотрим мы почему-то именно этот... Качество контента решает!
@@eugene-d, конечно, ведь попробуй пойми, что они там говорят на идеальном английском, а здесь и субтитры не нужны.
Я хорошо понимаю и северных англичан, и американцев южных штатов и даже французов с индусами, когда они говорят на английском. Поверь, мало кто в видео про робототехнику вкладывает столько инженерной мысли, как автор этого канала. Все как-то спешат слепить в одну кучу все изобретения человечества, доступные на АлиЭкспресс, и поскорее выложить результат в сеть. Вот и выходят или дрожащие поделки на сервах или монстры по цене однокомнатной квартиры. Наверное, меня тоже учили, что сначала бы разобраться с теорией вопроса. Тогда и применять потом как-то приятней.
Хотя есть конечно толковые каналы во многих странах.
Желаю всем добра, а каналу развития.
This is an excellent video. Thank you!
Nice video! Keep them coming
Thank you!
Great stuff... just enough detail :)