- #1
Robit1769
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I guess I am interested in the various electronic means of finding out how a robotic joint relays positional information back to it's control unit.
How do robotic arms/joints know what position they are at?
- Thread starter Robit1769
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- Electronics Position Robotics
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Discussion Overview
The discussion revolves around the methods and technologies used to determine the positional information of robotic joints and arms. Participants explore various electronic means, sensor types, and control mechanisms relevant to robotics, particularly for small robotic arms.
Discussion Character
- Exploratory, Technical explanation, Conceptual clarification
Main Points Raised
- One participant expresses interest in understanding how robotic joints relay positional information to their control units, seeking various electronic methods.
- Another participant suggests searching for "position sensor" as a starting point for information.
- A request for clarification on the question is made, specifically regarding data formats and sensor types.
- A participant mentions their unfamiliarity with robotics and seeks to learn about affordable and compact sensor options for a small robotic arm.
- Links to control theory and introductory tutorials on rotational position sensors are provided to aid understanding.
- One participant proposes using stepper motors for joint movement, noting that feedback sensors can verify position but may also operate without feedback from the controller.
- It is noted that encoders are typically used for robotic joints to track position.
- A participant highlights the challenge of accurately positioning a robotic arm at startup, discussing the use of absolute encoders versus simpler encoders that require a homing procedure.
- Concerns are raised about the complexity and computational intensity involved in accurately positioning the working end of a jointed arm robot.
Areas of Agreement / Disagreement
Participants do not reach a consensus on a single method or technology for determining positional information, indicating that multiple competing views and approaches remain in the discussion.
Contextual Notes
Some limitations include the need for clarification on specific sensor types and data formats, as well as the challenges associated with initializing position and accurately controlling robotic joints.
Who May Find This Useful
Individuals interested in robotics, particularly those looking to build small robotic arms or learn about sensor technologies and control systems in robotics.
- #2
BvU
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Google position sensor
- #3
Bystander
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Can you constrain your question? Data formats from sensors? Sensor types?
- #4
Robit1769
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Bystander, I should let you know, I'm pretty unfamiliar with robotics. I guess, I am looking to create a small robotic arm, capable of being precisely manipulated. I am looking to familiarize myself with methods that will allow me to do this.
Sensor type: something cheap and obtainable. Something that will fit into a relatively small rig.
Sensor type: something cheap and obtainable. Something that will fit into a relatively small rig.
- #5
Bystander
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https://en.wikipedia.org/wiki/Control_theory Make any sense? This is to give people on the forum an idea of what level of assistance you're seeking.
- #6
berkeman
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Robit1769 said:
Welcome to the PF.
BvU said:
Good advice! When I googled Rotational Position Sensor, the first non-ad hit on the list was this good introductory tutorial:
http://www.electronics-tutorials.ws/io/io_2.html
- #7
256bits
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Stepper motors to move the joint could be used. In which case a feedback sensor to the controller could be used to verify position, but can also, and usually is, as operating from input from just the controller without feedback.
- #8
donpacino
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typically for robotic joints encoders will be used.
- #9
Nidum
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Problem is that a simple jointed arm robot is a bit like a new born donkey when you start it up - legs everywhere .
One of the considerations when designing motion control systems is how to register the position of all moving components at start up . This means either using absolute encoders which always return the true position or simpler encoders which use a homing procedure to initialise position .
Accurately positioning the working end of a jointed arm robot is not straightforward and can be very computer intensive .
One of the considerations when designing motion control systems is how to register the position of all moving components at start up . This means either using absolute encoders which always return the true position or simpler encoders which use a homing procedure to initialise position .
Accurately positioning the working end of a jointed arm robot is not straightforward and can be very computer intensive .
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