Society of Robots - Robot Forum
Mechanics and Construction => Mechanics and Construction => Topic started by: S.E.T.I on February 04, 2010, 03:45:20 PM
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I have been working on a little project off and on just for fun, but I have run into a roadblock for it. I constructed a rigid sleeve to go over my arm with command potentiometers at the elbow and wrist, and a small mechanical arm actuated by servos with corresponding feedback potentiometers at the same joints. I'm going for having the mechanical arm match the movements of the rigid sleeve by comparing the pots positions. What sort of interface or software do you guys think I could use to translate the movement of the sleeve to movement of the servos in the mechanical arm? I'm also thinking about outfitting a glove with a flex sensor over the middle finger so that when I close my hand, a gripper closes, but I haven't gotten nearly that far in the construction yet haha. So what do you guys think?
~Wes
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I'd place the poti's (in command arm and actuator arm) in a voltage divider or bridge, and then use komparators to determine if the servo has to turn left or right (if actuator arm angle is </> command arm angle). Not using komparators i think would take up too many input pins but maybe there are tricks to surpass this problem..
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I would use the pots output voltage (divider circuit) to feed ADCs on a u-controller. The u-controller read the pots values and translates them into servo position pulses.