Electronics and software for high performance motor drives for robotics: ODrive - Oskar Weigl

Talk from the IROS 2021 workshop:
From gears to direct drive: Recent trends and opportunities in actuation
Website: www.ram.eemcs.utwente.nl/gear...
Abstract:
Basic drives for brushless motors can be inexpensive, but advanced drives that are suitable for robotics have historically been very expensive, leaving many companies, hobbyists and researchers no option other than to build their own. With the ODrive we hope to put an end to this reinventing of the wheel, as we offer a cost effective and highly customizable brushless servo drive. I will present the origin story of ODrive Robotics, our focus on making robotics accessible; how it went from a personal project to a community oriented project to a commercial endeavour.
Sharing our perspective on the emerging market of more affordable robotic solutions, we will look at who builds cost effective robots today, what are some interesting applications, and what we think the future trends are. I will also share insight into some of the design decisions, including tradeoffs between cost, reliability, performance and time to market: at the system, hardware and software level. We will also look at some of the tools we made along the way to help accelerate the development velocity of both ourselves and the developers who use ODrive. I will share some lessons learned on this journey, some challenges we faced, and what we might have done differently if we were to do it again; as well as what our plans are for the future.

[@jtreg]

Fantastic work Oskar, such an achievement, thank you.

[@simonlaker2139]

Thanks Oscar.
Can't wait for the version 4.
It would be great if in your docs you had a examples on how to implement bldc linear motor.
I personally have been trying to do this and have had fantastic support from Tom Owen.
I'm a visual person and would love examples with video and photos.
Once I get my project I will share.
Keep up the great work.
Happy New Year year and let's hope 2022 is a productive one.

[@user-rk9zx3lt8k]

yes, I think one of the reason about less contribution is the source code is combination among communication protocol, control theory , trajectory algorithm, and even advanced usage of c++

[@user-rk9zx3lt8k]

you are ownsome.!!!!!!

[@BarkanUgurlu]

Many thanks Oscar. Maybe I missed it but what is the current loop sampling rate?

[@rickkubbenga5904]

Amazing product! I'm just getting into foc and I would like to learn more by using it. I do have a 3d printer but I dont use it alot so spending a few honderd bucks just for learning is a bit much.. I'd like to decide that after I know enough about it
I did order a storm32 3 axis gimbal controller with 3 cheap motors and I'm hoping to get that to work with odrive. Think it can be done?

[@ultrainstinct1181]

Hey bro,over been struggling for a year straight to create a ffb SIM wheel using the odrive in 2ways.
1: directly
2: open ffb using the disco board.
And to no avail have I conquered it. Could you maybe help?!

[@waksQam]

Hi.. can use this driver for any kind of type brushless motor?

[@joereyes8835]

Hi I am wander if it's possible to run 2 motors simultaneously with a potentiometer, it would be nice for my project, let me know if. Thanks

[@djwillx974]

It's a fantastic job that you maked with odrive 3.6 but it's damage that you have closed the source with the new odrive pro. It's also a big problem that you doesn't include a brake circuit. Price is becoming too expensive..... All that maked the success of the odrive 3.6 is going to disappear because you want to stop its building. Odrive S1 is better than odrive pro for most of people. However, i think that you should have made a new version of odrive 3.6 by adding different improvment and the most important: To let it open source. Now, odrive is becoming a standard commercial board....with high price.... You said that one reason that you maked odrive was the price of existence solution. Today, AC motor with aasd driver is quite the same price than odrive + motor + encoder + power supply + cable and a lot of works ....... So , is it odrive still a cheap solution for driving in position a motor today ? I'm not sure.....

[@damiandanev9271]

Price is 200 EURO tho?

[@harjoat]

Still cheaper than the alternatives and the man spent countless hours developing it, can't exactly expect him to give it away...

[@raymondzhao9557]

so you are the father of ODrive？