Blog Archives

Backdrivability

There is a trend in robotics towards the use of backdrivable actuators due to multiple reasons. One of them, is the need of sharing the environment with humans. Such a robot needs flexibility to adapt the differences between real environmental

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Posted in Robotics

Notes on encoder resolution for velocity control of motors

The simplest velocity estimation method is the Euler approximation that takes the difference of two sampling positions divided by the sampling period. Typically the position measurements are taken with encoders or resolvers which contain stochastic errors which result in enormous

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Posted in Actuators, Robotic devices, Robotics

Motor Selection for Robots (I)

Analise the correct parameters that must be taken into account when selecting a motor is crucial for the success of the application.

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Posted in Actuators, Robotics

Upgrading of the Prusa i3 X carriage and extruder support

Prusa i3 X carriage and Extruder support from Semitronics (Side View)

My upgraded version of the X-carriage and extruder of the Prusa i3 from Semitronics.

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Posted in 3D printing, Robotics

Dynamic modelling of robots with rigid links (II)

Robots with closed loops This is the second post about robot modelling. In it I explain the modelling of robots with closed loops. It is common of several manipulators, especially those ones with bigger payloads, to include a closed loop in the

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Posted in Robot Dynamics, Robotics

Dynamic modelling of robots with rigid links (I)

Defining the dynamic model The conventional robotics equation describing the inner forces (1) of a kinematic chain of rigid forces in the absence of external forces can be obtained by employing any established algorithm, e.g. Newton-Euler iterative method or the

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Posted in Robot Dynamics, Robotics, Uncategorized
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