What model of servo are you using?
AX-12A servo motor
Describe your control environment. This includes the controller or interface, and any power source.
I intend to control the servo motor using a Raspberry Pi 4b through MATLAB with the aid of the Raspberry PI support package.
Specify the operating mode for applicable models, and any firmware settings you are using.
I’m going to use the servo in joint mode.
Include pictures if possible.
Include a full description of the issue.
I’m working with the AX-12A motors and my goal is to try to implement a torque control of robot manipulator (using the computed torque method) by using position or velocity commands. I have the following questions concerning the load estimation and torque control of these motors:
Does the current load field refer to outer load or does it refer to the motor’s internal torque? Does it reflect the value of the outer disturbance torque applied on the motor?
How accurate is the load estimation in the AX-12A motors? it’s mentioned that it’s an inferred value and not based on a true measurement of current with no mention of relative accuracy. Precisely, how well suited are these measurements to perform a dynamic identification of the robot arm?
Does the Compliance curve (torque vs position error) imply that there is a proportional controller between the torque and the position error at any instant (of course neglecting the saturation limits) ? Is this the type of controller implemented in the AX-12A? In other words, is it possible to find out the motor’s internal torque value by measuring the position error and reversing this linear relation (again assuming the work is in the linear region) ? to my knowledge, it’s possible to adjust the parameters of this curve so the proportional gain is actually known.
Any help or discussion is really appreciated.
Thank you very much for your effort and attention