Hello to everyone.
I am interested in building a manipulator using the DYNAMIXEL PRO+ actuator modules that were recently bought from my Research Laboratory. The max continuous torque of the PRO+ is about 45Nm which doesn’t oblige to my manipulator’s specifications. I want to design a new Joint1 module using a Nema23 Closed Loop Control Motor controlled with Arduino in order to deal with the higher torques. From the rest of the joints PRO+ are perfect.
I am currently considering my options, so I would be grateful if someone more experienced could help me out.
I have considered some problems that should arise, so I would like your help.
Communication via PRO+ is achieved through RS485 standard. Should my stepper also communicate under the same standard?
PRO+ are accompanied with libraries and SDK provided by ROBOTIS. How should I access the Joint1 motor in order the necessary cooperation between joint motors is achieved? Is it possible? Can it be achieved via custom made ROS package? Is there an existing solution that anyone has developed and used?
Please, If anyone has knowledge on the subject to consult me.
Thanks in advance