Question
Hello, I want to ROSify the AR2 and for that I have firstly understand the communication protocol between PC and ARDUINO and find out how to control the joints. Does anyone could tell me please the pulses per revolution for each motor joint in AR2 robot and describe communication and sending signals to Arduino. Thank you!
Hello. What a great job! But I always have a question. I found that the backlash of the normal planetary reducer with 50 reduction ratio is about 25arcmin, and the total length of ar2 and Ar3 is 620mm. As the second joint is used in this kind of reducer, it is found that the end positioning error should be about 4.39mm by calculation. Why do you make ar2 and Ar3 with an end positioning error of 0.75mm?
I would like to know that as well, I get the same value when doing the calculation.
The AR- robots have very good repeatable accuracy. I just complete a 30 hours of part changing operation with my 3D printed AR2 taking finished parts in and out of my CNC mill. Pulling finished milled parts then Installing new stock without skipping a beat! Total awesome! Having said that there are many factors that can contribute to the repeatable accuracy, reach, speed, weight in gripper....
Thank you. It doesn't seem to be a problem . AR-Robot is a very good design