Robotic Joint Impedance Control for Exoskeleton Development
hello all!
i work @ laboratório de biomecatrônica @ universidade de são paulo, brazil. our focus study of motor control through eyes of mechatronics.
i'm master student working exoskeleton development. master project aims @ understanding interaction between generic robotic joint , human joint. modular approach allows many teams collaborate though problems not same.
i keen on project documentation, decided create github project called modexo collaborative development. however, i'm not skilled programmer, i'm making project move! there infinite challenges i'm facing, programming language proper sensor reading, amongst others.
my project focused on control itself, rather mechanical interface. right now, have managed make robotic joint behave second order system, people call impedance control.
the system i'm using quite expensive, however, believe in using cheaper solutions, such windshield motor seen in https://hackaday.io/project/20663-assistive-exoskeleton-arm-exoarm , future possibility system.
driver: epos2 70/10
motor: maxon motor ec90 flat
brushless
90 watt
sensors:
human-robotic joint torque: strain gauges in full wheatstone bridge
motor position (integrated epos solution): combination of hall sensor , encoder mile
position control: encoder usdigital ma3
high level controller: arduino uno
the communication between arduino , epos made can bus protocol. has shown performance far, have learned lot post here: http://forum.arduino.cc/index.php?topic=225789.0
any comments or appreciated!
modexo repository
i work @ laboratório de biomecatrônica @ universidade de são paulo, brazil. our focus study of motor control through eyes of mechatronics.
i'm master student working exoskeleton development. master project aims @ understanding interaction between generic robotic joint , human joint. modular approach allows many teams collaborate though problems not same.
i keen on project documentation, decided create github project called modexo collaborative development. however, i'm not skilled programmer, i'm making project move! there infinite challenges i'm facing, programming language proper sensor reading, amongst others.
my project focused on control itself, rather mechanical interface. right now, have managed make robotic joint behave second order system, people call impedance control.
the system i'm using quite expensive, however, believe in using cheaper solutions, such windshield motor seen in https://hackaday.io/project/20663-assistive-exoskeleton-arm-exoarm , future possibility system.
driver: epos2 70/10
motor: maxon motor ec90 flat
brushless
90 watt
sensors:
human-robotic joint torque: strain gauges in full wheatstone bridge
motor position (integrated epos solution): combination of hall sensor , encoder mile
position control: encoder usdigital ma3
high level controller: arduino uno
the communication between arduino , epos made can bus protocol. has shown performance far, have learned lot post here: http://forum.arduino.cc/index.php?topic=225789.0
any comments or appreciated!
modexo repository
Arduino Forum > Topics > Product Design > Robotic Joint Impedance Control for Exoskeleton Development
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