Hello,
I have a quick question about the functionality of your robot.
Do you think it would be possible to integrate a "gravity compensation" mode to be able to move the robot directly with the user's hand?
Or does this require changing the motor control cards?
This makes a very nice evolution of the functionality of your robot.
regards
Laurent
Unfortunately, the Stepper Online drives we are using don't have that type of functionality. You would need Torque Control on the Stepper Drives like the torque loop on an industrial Servo Drives i.e. you reduce the Holding Torque via Torque Control analogue input and then you could move the joint with just enough torque to allow for re-positioning but not collapse. Then, your position loop would also have to be disabled to prevent position or following errors.
thanks for these information.
As it stands I unfortunately don't have the knowledge to do it, it's a shame...
