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6 votes

What are some ways to estimate torque/load on a robotic arm joint

Model Based: Low cost solution is always software: Develop a dynamic model which computes the load on the motors based on the motions (e.g. with Recursive Newton Euler Algorithm or Lagrange-Euler ...
50k4's user avatar
  • 6,682
4 votes
Accepted

Can too much input current destroy my motor driver?

You are approaching the problem from wrong side. Current capability of a battery (25C) has nothing to do with that how much current will it actually source. It is the load (motors in that case) what ...
mactro's user avatar
  • 953
4 votes

Inner current controller benefits

What would be the benefits of implementing this full nested control architecture for the control compared to my current implementation Textbooks are always a great source of information! Reference: &...
Ugo Pattacini's user avatar
3 votes

How to deal with current spikes due to fast direction-switching motor commands?

I've experienced a similar problem before. For me, the root cause was insufficient battery power. When my motor tried to draw peak power it caused the battery supply bus to brown out. This led to ...
Chuck's user avatar
  • 16k
3 votes

How to deal with current spikes due to fast direction-switching motor commands?

As explained in my answer to What is stall current and free current of motors? when switching direction on a motor, you can end up drawing more than the maximum normal current rating. This can cause ...
Mark Booth's user avatar
  • 4,253
2 votes

Can't Read current on Pololu Dual MC33926 Motor Driver Shield for Arduino

I know this thread is old but it's high on Google results and I would like to clarify for anyone who stumbles upon it in the future an answer not yet listed: this chip is not designed to read current ...
athoesen's user avatar
2 votes

Servo motor power consumption issue

Firstly consider the servo torque limitations, if loading increase from specified limit the it start stalling and even can gear get fail and burn servo itself, possibly. And another concern is with ...
manan kalsariya's user avatar
2 votes

How to test how much current 9 servos can draw at a time?

I assume that all the servos are identical, so it is enough to measure only one, and multiply the result by 9. The best would be if you could use a lab bench variable power supply, like this. With one ...
Bence Kaulics's user avatar
2 votes

How to choose the correct power switch ratings for robotics?

There is a characteristic called ampacity that is defined as the maximum current, in amperes, that a conductor can carry continuously under the conditions of use without exceeding its temperature ...
Chuck's user avatar
  • 16k
1 vote
Accepted

How dangerous are HASEL artificial muscles with its Kv requirements?

So first, always take precautions when dealing with electricity. Discharging capacitors, removing metal jewelry, safety glasses, insulated tools, etc. If it's a commercially available product then I ...
Chuck's user avatar
  • 16k
1 vote

How to pick the right motor driver?

For every component you can search for data sheets over the respective manufacturer site. You can know the rated current of motor otherwise on the shopping site. Then find a motor driver for that ...
nagln's user avatar
  • 11
1 vote

How can a motor be run at higher voltage for longer?

Running a motor with a higher voltage might reduces its lifetime. However there are some cases where we want to run motors above the rated voltage. According to the equation V = IR, current increases ...
Tharindu Suraj's user avatar
1 vote

How to deal with current spikes due to fast direction-switching motor commands?

It's maybe not this at all, but when a motor or any inductive system suddenly stop it create a short opposite surtense that can affect your microcontroleur. The solution is to ad a flyback diode ...
A.Braut's user avatar
  • 11
1 vote

How to deal with current spikes due to fast direction-switching motor commands?

You can try to put a capacitor in the motor terminal. Very close to the motor.
jdios's user avatar
  • 497
1 vote

What are some ways to estimate torque/load on a robotic arm joint

50k4 did a good job of enumerating the different ways to measure torque in the joints. So I won't go into that. But if you want to detect unexpected impacts, another option is to use accelerometers. ...
Ben's user avatar
  • 5,865
1 vote

Servo motor power consumption issue

From the TowerPro website from the MG995: Specification: Weight: 55 g Dimension: 40.7×19.7×42.9 mm Stall torque: 9.4 kg/cm (4.8v); 11 kg/cm (6 V) Operating speed: 0.20 sec/60° (4.8 V)...
Greenonline's user avatar
  • 1,568
1 vote

Brushless DC motor problems at high velocities

Nice detail in your question. The somanet site makes a big deal about their firmware being open source, so you should be able to check the timing in the code (or otherwise get the help of the somanet ...
hauptmech's user avatar
  • 4,435
1 vote
Accepted

what is the difference between a voltage source and current source?

You are correct in that they are related, via Ohm's law: $$ V = IR \\ $$ The difference is in what gets regulated. A voltage source will keep supply voltage at a constant level by altering the ...
Chuck's user avatar
  • 16k
1 vote

Can too much input current destroy my motor driver?

If I might add to the previous answers: I noticed in the referenced datasheet that the 20A maximum current rating for this driver is limited to less than 10 seconds and the maximum current is further ...
wchundak's user avatar

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