Difference between revisions of "ROBOTIS DYNAMIXEL XL330 Current Based Position Mode (Compliant Mode)"

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(Created page with "=Prerequisites= For this tutorial it is required to have the following items: * 1x DYNAMIXEL Shield for Arduino MKR Series * 1x Arduino MKR compatible device. Note: This tutor...")
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Revision as of 21:07, 16 September 2021

Prerequisites

For this tutorial it is required to have the following items:

  • 1x DYNAMIXEL Shield for Arduino MKR

Series

  • 1x Arduino MKR compatible device. Note:

This tutorial uses the Arduino MKR Wifi 1010

  • 1x Compatible 1S LiPo battery with a

JST2.0 connector (check for proper polarity)

  • Nx DYNAMIXEL XL330-M288-T

ROBOTIS actuator(s) where N>=1

Examples

Current Based Position, also known as Torque Based Position, uses the concepts of Position and Current Control modes together to get an actuator to move to a goal position at a certain speed. This mode also helps identify if there is an object in the way of the actuators moving component and can trigger a stop function or a function to add more torque to move the object out of the way. This is a key mode for automated robots that move in a dynamic area where there are obstacles to move around or move entirely.

Overview

This tutorial will also go over how to program the physical XL330 actuator in Current Based Position mode using the DYNAMIXEL Shield with an Arduino MKR. We will begin with how to wire and power the components together to begin programming the actuator. We will then go over the breakdown of the code to have a clear understanding of what each line does and then examine the code as whole. During this tutorial, we will observe how the current and torque are plotted with and without and obstructions to the goal position path. At the end of these tutorials, there will be a link that briefly go over how these concepts are applied physically for a better understanding of what the final outcome should look like.