The short answer: It doesn't know. Longer answer: The force of gravity is always a constant down vector relative to the robot. Since its constant, the counteracting force it needs to apply to remain static is independent of any other forces applied to it. It is always adjusting to gravity and only gravity. A cool thing about that is that, since it is always counteracting gravity, i assume the person moving weight around feels like the weight is floating in space. Not weightless, but weighless with respect to gravity. must feel weird.
I don't think it's measuring force at all, at least not during the video shown. As long as it knows the angle that each joint is at, and the density of the material that it's made out of, it could calculate the gravitational force felt by each segment, and counteract only that force. For more practical accuracy, it could have a "Calibration Mode", where it attempts to "Hover" the tip of the mechanism at various x/y/z points, in order to "measure" how much force it needs to apply at each x/y/z to maintain a hover at each x/y/z (And could extrapolate for x/y/z values that are in-between one of the actually calibrated x/y/z points). Then it could adjust its internal theoretical model to the actually measured results, for more fine-tuned accuracy (Just like how google maps will often ask you to calibrate your gyroscope, for improved accuracy). E.g. the calibration mechanism could help make adjustments for the gravity felt by those "wires", which are harder to model from a purely theoretical basis.
Dude, you are cheating pretty hard with the weighted version. you are clearly hanging on to the weight to wait for the system to settle before letting it go. my guess is that it won't settle at all without you helping it, or it pretty violently shakes while settling. even with you helping, you can see it spring back when you let go. i'd like to see how it performs with you moving the weight naturally and just letting go as soon as you've moved it
"translation" DOF is defined here as the distance of the cantilevered load from the last joint. The prior art is able to compensate for 2 DOF when the load is held near the joint, but fails when the load is moved away from the joint. The new technique seems to be able to compensate for this.
@@FullFledged2010 It's not a stretch at all. This is how manipulator kinematics are defined. There are two types of joints: rotational (R) - a rotation around a single axis, and Translational (T) - translation (movement) along a single axis Number of linearly independent joints gives you DOF, so in this case we have a RRT kinematic arm. (3 DOF)
@@Axymerion roll,pitch,yaw,heave,surge,sway. Are the 6 degrees of freedom. This system only has roll and pitch. . And technically you have surge but in a very limited way🤔 pitch and surge are coupled so its not really degrees of "freedom" now is it?
@@FullFledged2010 You forgot about the weight, which is a translational joint (in a vertical direction). It can move independently of the other two joints, and thus is the third DOF
It seems the 3rd degree is the height at which the black and orange weight is, and for which the system must compensate
I think this can be simply down by putting your motors on velocity control mode.
How does the robot know the difference between the force of gravity and the force of your hand?
The short answer: It doesn't know.
Longer answer: The force of gravity is always a constant down vector relative to the robot. Since its constant, the counteracting force it needs to apply to remain static is independent of any other forces applied to it. It is always adjusting to gravity and only gravity.
A cool thing about that is that, since it is always counteracting gravity, i assume the person moving weight around feels like the weight is floating in space. Not weightless, but weighless with respect to gravity. must feel weird.
I don't think it's measuring force at all, at least not during the video shown. As long as it knows the angle that each joint is at, and the density of the material that it's made out of, it could calculate the gravitational force felt by each segment, and counteract only that force.
For more practical accuracy, it could have a "Calibration Mode", where it attempts to "Hover" the tip of the mechanism at various x/y/z points, in order to "measure" how much force it needs to apply at each x/y/z to maintain a hover at each x/y/z (And could extrapolate for x/y/z values that are in-between one of the actually calibrated x/y/z points). Then it could adjust its internal theoretical model to the actually measured results, for more fine-tuned accuracy (Just like how google maps will often ask you to calibrate your gyroscope, for improved accuracy). E.g. the calibration mechanism could help make adjustments for the gravity felt by those "wires", which are harder to model from a purely theoretical basis.
Dude, you are cheating pretty hard with the weighted version. you are clearly hanging on to the weight to wait for the system to settle before letting it go. my guess is that it won't settle at all without you helping it, or it pretty violently shakes while settling. even with you helping, you can see it spring back when you let go. i'd like to see how it performs with you moving the weight naturally and just letting go as soon as you've moved it
"...or it pretty violently shakes while settling." That would be a pretty neat trick for a passive mechanism.
서보제어???
Wht software did you use to simulate this, and to get the graphs of the torque ?
what simulation and what graphs
This is only 2 dof right? Pitch and roll. 🤷♂️
"translation" DOF is defined here as the distance of the cantilevered load from the last joint. The prior art is able to compensate for 2 DOF when the load is held near the joint, but fails when the load is moved away from the joint. The new technique seems to be able to compensate for this.
@@denniszhang9278Its a bit of a stretch but yeah makes sense👍
@@FullFledged2010 It's not a stretch at all. This is how manipulator kinematics are defined.
There are two types of joints: rotational (R) - a rotation around a single axis, and Translational (T) - translation (movement) along a single axis
Number of linearly independent joints gives you DOF, so in this case we have a RRT kinematic arm. (3 DOF)
@@Axymerion roll,pitch,yaw,heave,surge,sway. Are the 6 degrees of freedom. This system only has roll and pitch. . And technically you have surge but in a very limited way🤔 pitch and surge are coupled so its not really degrees of "freedom" now is it?
@@FullFledged2010 You forgot about the weight, which is a translational joint (in a vertical direction). It can move independently of the other two joints, and thus is the third DOF
I don't see 3 degrees of ffreedom Looks like 2.
Weight position on the final arm