@@awesomefeldmanfamily Two reasons. 1) Because the arm has inertia and even if the motor stops at the base it will still oscillate. 2) The motors/gears aren't perfect, they have a little give. This will make it 'wobble'
@@abcqer555 It's because the motors and servo modules aren't powerful/accurate enough. There's a "motion plan" that the robot generates to move the tip of the arm in space. To execute that plan, all the motors have to move at variable speeds across time. This motion requires all the motors to work in sync very accurately. At the end of the day, they are driven by PIDs, so what you see with the wavering is the PIDs "hunting" to correct for deviating from their target positions. The causes of this are from varying resistance in the gearbox, slow response from the servo driver, and or inaccuracies from the encoder readings.
For the price, I'm not sure you can get _MUCH_ better. The closest product out there might be Annin Robotics AR4 that comes in at around $1,500 or so + a lot of time. Your cable management is gonna be hot trash and the the software ain't the cleanest but he did an amazing job for self-run open source robot (my props to him). If you look at "engineering spare time", he posted basically an arm in the performance range of the $25k+ FANUC LR Mate robot in terms of speed, precision, reach, compensation, torque sensing, etc. And he says it will be in the range of $2k to $4k. That would be insane.
Anyone else see that wobble when it was holding the camera?
yep.
at 1:10 right
Yes.... Why do robots even do that?
@@awesomefeldmanfamily Two reasons.
1) Because the arm has inertia and even if the motor stops at the base it will still oscillate.
2) The motors/gears aren't perfect, they have a little give. This will make it 'wobble'
@@abcqer555 It's because the motors and servo modules aren't powerful/accurate enough. There's a "motion plan" that the robot generates to move the tip of the arm in space.
To execute that plan, all the motors have to move at variable speeds across time.
This motion requires all the motors to work in sync very accurately. At the end of the day, they are driven by PIDs, so what you see with the wavering is the PIDs "hunting" to correct for deviating from their target positions.
The causes of this are from varying resistance in the gearbox, slow response from the servo driver, and or inaccuracies from the encoder readings.
Nice balance of precision and cost
Ok ok, sounds great but...how many input/output from motherboard or others port ?
It's great if it's with a good UI and various IOs.
not seem rigid. its shaking oviously. especially at 1:09
For the price, I'm not sure you can get _MUCH_ better. The closest product out there might be Annin Robotics AR4 that comes in at around $1,500 or so + a lot of time. Your cable management is gonna be hot trash and the the software ain't the cleanest but he did an amazing job for self-run open source robot (my props to him).
If you look at "engineering spare time", he posted basically an arm in the performance range of the $25k+ FANUC LR Mate robot in terms of speed, precision, reach, compensation, torque sensing, etc. And he says it will be in the range of $2k to $4k. That would be insane.