Changes between Version 60 and Version 61 of UserGuideGit


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Timestamp:
Nov 13, 2017, 1:12:03 PM (8 years ago)
Author:
fma
Comment:

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  • UserGuideGit

    v60 v61  
    163163Most servos have a range of 180°. So, it is important to mount them on the robot so the servo neutral position (''SNP'') match the joint neutral position (''JNP''). Here is the leg neutrals usually used for a 3 DoF leg:
    164164
    165 {{{
    166 XY plane (top view):
    167 
    168   C  F        T
    169   o---o---------o-------
    170 
    171 XZ plane (side view):
    172 
    173   C  F        T
    174   o---o---------o
    175                 |
    176                 |
    177                 |
    178 }}}
    179 
    180  * C = coxa
    181  * F = femur
    182  * T = tibia
     165[[Image(IK3DoF_neutral.png, 300px)]]
    183166
    184167This position should be reached when servos pulses are 1500µs (1500µs is the neutral pulse of hobby servos). It may vary a little bit, and you can fine tune this value by scanning the mechanical range of the servo, and take the middle value (neutral_pulse = (min_pulse + max_pulse) / 2). A little servo tester can be helpful.