Please, put more info into video description! For example actuator names, links to the actuator descriptions, may be some store links. I think this will be useful for everybody.
I FINALLY was able to decipher what he was saying... SteadyWin Motor www.aliexpress.com/item/4000311364193.html?spm=a2g0o.productlist.0.0.14511a06vNz8BU&algo_pvid=96b2a393-6b6e-4ad3-89ca-5a9bf85e8d23&algo_expid=96b2a393-6b6e-4ad3-89ca-5a9bf85e8d23-4&btsid=0bb0623416019566009445144e4336&ws_ab_test=searchweb0_0,searchweb201602_,searchweb201603_ Board and or Reducer, if you want to build your own housing I guess www.aliexpress.com/item/4000413832282.html?spm=a2g0o.detail.1000060.3.4c26b2332ZaPXb&gps-id=pcDetailBottomMoreThisSeller&scm=1007.13339.169870.0&scm_id=1007.13339.169870.0&scm-url=1007.13339.169870.0&pvid=7f08aa21-05db-43ab-99f1-181a79d2abee&_t=gps-id:pcDetailBottomMoreThisSeller,scm-url:1007.13339.169870.0,pvid:7f08aa21-05db-43ab-99f1-181a79d2abee,tpp_buckets:668%230%23131923%2395_668%23808%233772%23977_668%23888%233325%2315_668%232846%238112%23584_668%232717%237561%23349_668%231000022185%231000066059%230_668%233468%2315612%23321
Dear Skyentific , thanks very much for your definition again for our product . Our R&D team will do our best to bring you all the better product . thanks all of you support and love .
Nice work. I am particularly impressed that you went ahead with the reverse engineering procedure even though you didn't need to. I like the cut of your jib!
Have you checked out the BLDC servo actuators on RobotDigg? They are supposed to be based on the MIT design and people have been saying good things about them. They also have a really really good price and a whole bunch of different sizes.
It sounds like the silver-ish actuator has a problem with the bearings. I hope to one day have the finances to be able to build something with these actuators as well. O-drives and BLDC actuators are still way out of my budget but I'd really like to design and build my own SCARA robot arm in the future.
You should totally hook up the Arduino ADC and a pin interrupt to make the Arduino calculate the KV! Add a little display that prints the the measurements and you're done!
I love your videos! In the future I would love to see your take on a low cost, limited purpose, robotic 3d printer/laser engraver/CNC engraver, I feel like a delta robot or scara robot would make more sense to me because less complications and less cost but who am I to make such assumption? Although any robot brings the complication of precision of assembly and calibrations, this is the area I think you could bring more value for the comunity simplifying it. If you are not interested in building it, a theoretical video discussing the options and best suitable kinematics regarding cost per print area and precision. The 3D printers market got very boring from a few years back, linear deltas kind of died, simple but slow cartesian printers are the majority. The 3D printer nerds like me are a huge audience and would attract a lot of new viewers to your channel, I envision even a lot of new patreon members if you really develop a robot printer and release it there. One attractive aspect of a robotic 3d printer is the speeds you can achieve compared to cartesian keeping the same precision, surface quality is an aspect which seems to need more development in robot printers. I know your other robots can 3D print, but a more specialized, simpler, cheaper and maybe with more precision for that specialized applications makes sense,
Hi Skyentific I'm really thankful to you...I could learn a lot from them...I need help...I'm trying to use the new "black" cheetah actuator...but how can I know the absolute position of the planetary output at power on..the Ben Katz paper says"Since the position sensor is absolute at the rotor, output position is known at turn-on to within one rotation of the rotor, or 60∘" what does that mean?
Did you compare the values you measured to the values that were stored already in the mini cheetah module you bought? Would be interesting how close your values are to what the manufacturer uses.
Геннадий, L, R и BackEMF Constant достаточно только для настройки PID регулятора токов статора. Этого недостаточно для настройки PID скорости и PID позиции. Необходимо знать параметры Inertia и Friction ротора для точной настройки FOC алгоритма. Потому мотор с новым контроллером будет вести себя иначе.
Почти в каждом Вашем ролике вы используете шину CAN, это получается сейчас самая популярная шина в промышленности? Все заводы, где мне посчастливилось работать работают с использованием Modbus...
Please help me understand why these actuators are so expensive ($300+) relative to stepper motors of equal mass with similar quality precision milled parts that can be had for around $30? I understand that the actuators have a controller board and have smaller manufacturing quantities but that should not account for such a big 10x price difference as far as I can see. I would love to build an MIT robotic dog but don't wand to spend thousands just for the actuators.
I would like to hear a good answer also. BUT here's mine... These are a relative new type of motor and not really being mass produced at the scale to see cost savings, also, there's not as much competition. There's also a lot more effort needed for motor control features, speed, torque control and position aren't really a concern for steppers. I suspect these things will be closer to $100 once they demand reaches a certain level. I remember mems acellerometer chips were quite expensive until Nintendo popularized them in motion controllers, now they are dirt cheap and lead to a lot of other cheap mems sensors.
A stepper motor does not have rare earth magnets, and also has an easier construction in the air gap because it just uses reluctance. It's easier to construct. Add in the cost of a gearbox, and the cost of the electronics, and the cost of machining a much lighter enclosure, and you get a much higher base cost. On top of that, steppers are made by the millions, these are made by the hundreds. Compared to other industrial automation equipment, these are quite affordable. The step up from "hobby kit" robotics to "custom" robotics is always a massive sticker shock. Everyone has to go through it. There are no shortcuts! (I spent five years looking for them before realizing this!)
Hi I think the new MIT controller takes the different version of Arduino code, in sending(Position, velocity, Kp, Kd, Feed-Forward current). Could you share the arduino code to us?
@@Skyentific Спасибо! На T-motor AK80-6 (обзор на который Вы делали) это тоже распространяется? У меня AK70-10 (аналог AK80-6, только мощнее), там такого нет.
Please, put more info into video description! For example actuator names, links to the actuator descriptions, may be some store links. I think this will be useful for everybody.
I FINALLY was able to decipher what he was saying... SteadyWin
Motor
www.aliexpress.com/item/4000311364193.html?spm=a2g0o.productlist.0.0.14511a06vNz8BU&algo_pvid=96b2a393-6b6e-4ad3-89ca-5a9bf85e8d23&algo_expid=96b2a393-6b6e-4ad3-89ca-5a9bf85e8d23-4&btsid=0bb0623416019566009445144e4336&ws_ab_test=searchweb0_0,searchweb201602_,searchweb201603_
Board and or Reducer, if you want to build your own housing I guess
www.aliexpress.com/item/4000413832282.html?spm=a2g0o.detail.1000060.3.4c26b2332ZaPXb&gps-id=pcDetailBottomMoreThisSeller&scm=1007.13339.169870.0&scm_id=1007.13339.169870.0&scm-url=1007.13339.169870.0&pvid=7f08aa21-05db-43ab-99f1-181a79d2abee&_t=gps-id:pcDetailBottomMoreThisSeller,scm-url:1007.13339.169870.0,pvid:7f08aa21-05db-43ab-99f1-181a79d2abee,tpp_buckets:668%230%23131923%2395_668%23808%233772%23977_668%23888%233325%2315_668%232846%238112%23584_668%232717%237561%23349_668%231000022185%231000066059%230_668%233468%2315612%23321
Dear Skyentific , thanks very much for your definition again for our product . Our R&D team will do our best to bring you all the better product . thanks all of you support and love .
This is such a great channel for robotics. I don't understand why you don't have more subscriptions
Nice work. I am particularly impressed that you went ahead with the reverse engineering procedure even though you didn't need to.
I like the cut of your jib!
Have you checked out the BLDC servo actuators on RobotDigg? They are supposed to be based on the MIT design and people have been saying good things about them. They also have a really really good price and a whole bunch of different sizes.
Great video, thanks for your work :) i particulary like your academic of explaining the progress
Where to begin ? Which robot i should buy first ? ( Keep going! Your video are great ! ... from Canada)
I really like your videos, I am also hopping to some day be able to afford some of the components you show how to use, thank you for your content sir!
Congrats on your new upgrade. It's cheaper and it works. I can't wait to see your future upgrades.
It sounds like the silver-ish actuator has a problem with the bearings. I hope to one day have the finances to be able to build something with these actuators as well. O-drives and BLDC actuators are still way out of my budget but I'd really like to design and build my own SCARA robot arm in the future.
I also want to build a Scara arm in the future. But it needs to handle 5kg at the end of the arm. Very pricy... but the time will come xD
You did excellent work. I really love to see your videos and I am waiting your videos everyday.💐👏
"Tera Term" - I haven't heard that name in a while! Nice!
Brilliant 😎 Always interesting, thank you 👍
Great job, I wonder were did you found the equations that you used for this video? Thank you!
Great video as always!
You should totally hook up the Arduino ADC and a pin interrupt to make the Arduino calculate the KV! Add a little display that prints the the measurements and you're done!
I love your videos!
In the future I would love to see your take on a low cost, limited purpose, robotic 3d printer/laser engraver/CNC engraver, I feel like a delta robot or scara robot would make more sense to me because less complications and less cost but who am I to make such assumption? Although any robot brings the complication of precision of assembly and calibrations, this is the area I think you could bring more value for the comunity simplifying it.
If you are not interested in building it, a theoretical video discussing the options and best suitable kinematics regarding cost per print area and precision.
The 3D printers market got very boring from a few years back, linear deltas kind of died, simple but slow cartesian printers are the majority.
The 3D printer nerds like me are a huge audience and would attract a lot of new viewers to your channel, I envision even a lot of new patreon members if you really develop a robot printer and release it there.
One attractive aspect of a robotic 3d printer is the speeds you can achieve compared to cartesian keeping the same precision, surface quality is an aspect which seems to need more development in robot printers.
I know your other robots can 3D print, but a more specialized, simpler, cheaper and maybe with more precision for that specialized applications makes sense,
What are your recommendation for books or resources for understanding more about BLDC motor drives?
Interesting question
Depends tremendously on where you're starting from..
In the vedio , it is version1 and version2 actuator driver . at presnt , we have published the third actuator driver .
@Skyentific Hi, did you test the MIT code for the motor directly on the basic controller before changing it?
Hi Skyentific I'm really thankful to you...I could learn a lot from them...I need help...I'm trying to use the new "black" cheetah actuator...but how can I know the absolute position of the planetary output at power on..the Ben Katz paper says"Since the position sensor is absolute
at the rotor, output position is known at turn-on to within one rotation of the rotor,
or 60∘" what does that mean?
Did you compare the values you measured to the values that were stored already in the mini cheetah module you bought?
Would be interesting how close your values are to what the manufacturer uses.
Геннадий, L, R и BackEMF Constant достаточно только для настройки PID регулятора токов статора. Этого недостаточно для настройки PID скорости и PID позиции. Необходимо знать параметры Inertia и Friction ротора для точной настройки FOC алгоритма. Потому мотор с новым контроллером будет вести себя иначе.
Would be great if you enter all links in the description because it is hard to understand you correctly.
I really want to see someone make an actuator of this style (planetary gears inside the stator) out of a 24050 outrunner.
Почти в каждом Вашем ролике вы используете шину CAN, это получается сейчас самая популярная шина в промышленности? Все заводы, где мне посчастливилось работать работают с использованием Modbus...
Please help me understand why these actuators are so expensive ($300+) relative to stepper motors of equal mass with similar quality precision milled parts that can be had for around $30? I understand that the actuators have a controller board and have smaller manufacturing quantities but that should not account for such a big 10x price difference as far as I can see. I would love to build an MIT robotic dog but don't wand to spend thousands just for the actuators.
I would like to hear a good answer also. BUT here's mine... These are a relative new type of motor and not really being mass produced at the scale to see cost savings, also, there's not as much competition. There's also a lot more effort needed for motor control features, speed, torque control and position aren't really a concern for steppers. I suspect these things will be closer to $100 once they demand reaches a certain level. I remember mems acellerometer chips were quite expensive until Nintendo popularized them in motion controllers, now they are dirt cheap and lead to a lot of other cheap mems sensors.
A stepper motor does not have rare earth magnets, and also has an easier construction in the air gap because it just uses reluctance. It's easier to construct.
Add in the cost of a gearbox, and the cost of the electronics, and the cost of machining a much lighter enclosure, and you get a much higher base cost.
On top of that, steppers are made by the millions, these are made by the hundreds.
Compared to other industrial automation equipment, these are quite affordable. The step up from "hobby kit" robotics to "custom" robotics is always a massive sticker shock. Everyone has to go through it. There are no shortcuts! (I spent five years looking for them before realizing this!)
К стати о робот революшн... Автор, Вы читали Айзека Азимова? В частности его законы робототехники???
Hi I think the new MIT controller takes the different version of Arduino code, in sending(Position, velocity, Kp, Kd, Feed-Forward current). Could you share the arduino code to us?
Does it the same code in ua-cam.com/video/WKRLlthr9kY/v-deo.html
@@hsusunbeam8841 yes! Exactly the same!
@@Skyentific got it, thanks！
Геннадий, скажите, пожалуйста, какого размера терминальный резистор Вы использовали для управления мотором по can?
Да конечно: 120 Ом. По-моему это стандарт. Он там в термоусадочный трубке на проводе спрятан.
@@Skyentific Спасибо! На T-motor AK80-6 (обзор на который Вы делали) это тоже распространяется? У меня AK70-10 (аналог AK80-6, только мощнее), там такого нет.
noice
Старый добрый Eee PC
please, How to change the motor address
Cheap? How much are you paying for them?