Improvement of a low-cost intelligent servomotor
In this article is described an improvement implemented to the Dynamixel AX-12 servo motor, a low-cost intelligent servo motor widely used in the design and construction of advanced robots for entertainment and research. The modification of its software and hardware is detailed in order to change it...
| Autores: | , , |
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| Formato: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2023 |
| País: | México |
| Recursos: | UNIVERSIDAD AUTÓNOMA DEL ESTADO DE HIDALGO |
| Repositorio: | PÄDI Boletín Científico de Ciencias Básicas e Ingeniería del ICBI |
| Idioma: | español |
| OAI Identifier: | oai:repository.uaeh.edu.mx:article/10852 |
| Acesso em linha: | https://repository.uaeh.edu.mx/revistas/index.php/icbi/article/view/10852 |
| Access Level: | acceso abierto |
| Palavra-chave: | Advanced robots robot control real-time low-cost intelligent servomotor Robots avanzados control de robots tiempo real servomotor inteligente de bajo costo |
| Resumo: | In this article is described an improvement implemented to the Dynamixel AX-12 servo motor, a low-cost intelligent servo motor widely used in the design and construction of advanced robots for entertainment and research. The modification of its software and hardware is detailed in order to change its original communication protocol to SPI and with this to achieve higher data transmission speeds between servomotors of the same type and supervisory computer systems that operate in real time. Additionally, a PD controller with feedforward is programmed to regulate both the speed and the angular position of its load axis, with a sampling period of 1 [ms] (10 times greater than what was achieved with the original servomotor). Finally, the conclusions obtained regarding the satisfactory behavior of both the theoretical and the experimental are described. |
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