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State the model of servo you are using.
MX-28 AT protocol 1.0
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MX-28AT motors -3
Describe your control environment. This includes the controller or interface, computer and OS, and any power source you are using
U2D2 controller , HP-i5 and Windows-10 , SMPG Source(by Robotis) MATLAB AND SIMULINK.
Specify the operating mode you are using, for applicable models.
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I have used Dynamixel SDK files for MATLAB
When I didn’t succeed I used third party libraries in Simulink
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My issue- am working using position control on my Dynamixel in MATLAB (2021b).
Let’s say I am moving from 2000 → 2512 using a cosine (trajectory) function.
I gave a loop where initially 50 points were generated from 2000-2512. When I increase the number of intermediate points to 100 , the motors slow down i.e., the same 2000 → 2512 takes more time than earlier.
So my point is, even though I increase intermediate steps (keeping in mind the resolution of the motors 0.0879 deg) I should finish the motion within the same time as in the case of less intermediate steps. How can I get this? Where I am going wrong?
I tried using sync write as well but with each servo an additional 10 sec delay was being added to finish the given motion. How to overcome these issues?