About 3 dof robot arm control

Community
1

Hi, I am designing a 3 DOF robot arm, and i have some questions,

  1. U2D2 POWER HUB can be supplied with a battery? what type of battery?
  2. If i want to use PD control with gravity compensation, apart from adjusting Kp Kd and Goal current, is there another option that Dynamixel offers to compensate for gravity?
2
  1. The Power Hub Board doesn’t come with any preinstalled battery connections. You can connect any power supply that you would like to use, including a battery through the onboard terminal block input, barrel jack, or two pin power connection.
  2. DYNAMIXEL servos do not feature any built in gravity compensation features.