EAeasygenes·Feb 16, 2025
Yes, but this employs additional encoders to implement a more sophisticated cascading control loop: https://github.com/adamb314/ServoProject/blob/main/Doc/Theor...
In PAROL6: 3D-printed desktop robotic armadamb314
ServoProject
Python2022–2025
adamb314 / ServoProject
ServoProject
Getting the most out of your hobby servo
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Getting the most out of your hobby servo
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| Period | Start (UTC) | End (exclusive, UTC) | Mentions | Submissions | Comments |
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| 2025 | 2025-01-01 00:00:00 UTC | 2026-01-01 00:00:00 UTC | 3 | 0 | 3 |
What Hacker News says
8 sourcesYou'd be surprised what you can do with servos modified with encoders, setup with an industrial grade cascading control loop. First demo video below demonstrates threading a mechanical pencil lead in and out through the writing tip. Second video demonstrates a 187gram weight at the end of a 470mm long rod. Third video shows that the modification is now a quick fitting of some 3D printed parts to the servo motor axle and servo housing.
https://www.youtube.com/watch?v=ECLrLupFW10
https://www.youtube.com/watch?v=_4mrb2T706s
https://www.youtube.com/watch?v=Ctb4s6fqnqo
https://github.com/adamb314/ServoProject
In PAROL6: 3D-printed desktop robotic armAlso have a look at this project, he adds an optical encoder and mc to a cheap servo to enable smooth control. So there is extra feedback, but processed on the modified servo.
https://github.com/adamb314/ServoProject
In Servo vs. steppers: Speed, Torque and Accuracy [video]He goes into detail on the control algorithm of the project on the github. It's rather complicated...
https://github.com/adamb314/ServoProject/blob/main/Doc/Theor...
In How can this 6 axis robot have a static accuracy of 0.05 mm? (2021) [video]https://github.com/adamb314/ServoProject
^Modifying cheap servos so that a robot arm can repeatedly insert a pencil lead. It's a lot of work though.
Most interesting application though fall out of the scope of old-fashioned robotic arms, i.e. when you need to sense the real world in a non controlled context. For instance to develop a robot that can trim wilted flowers, you'll need to measure the real world, and as soon as you do that, you can just sense your robot arm too, no need for fancy, ultra-precise actuators.
Look at this BOM: https://docs.google.com/document/d/1_3yhWjodSNNYlpxkRCPIlvIA...
Do you really need the $6,129.95 & $3,549.95 robot arms for the kind of application described ? I doubt it. I'm not a robotician, and would love some feeback on this idea.
In Low Cost Robot ArmAnyone know how the accuracy of this compares to the similar-cost adamb314/ServoProject arm? [1] It utilizes a servo mod adding dual encoders to compensate for backlash and achieves accuracy of +/- 0.05mm (enough to thread a mechanical pencil lead in and out of the tip of a pencil). [2] He's been working on the project for 5 years, with significant improvements still in the last year. [3][4]
[1]: https://github.com/adamb314/ServoProject
[2]: https://www.youtube.com/watch?v=SioCwvR_PYY
[3]: https://www.youtube.com/watch?v=_4mrb2T706s
[4]: https://www.youtube.com/watch?v=Ctb4s6fqnqo
In Low Cost Robot Arm