Sensors

L'Hexapod: Sensing servo torque

Previously published This article was previously published on lhexapod.com as part of my journey of discovery into robotics and embedded assembly programming. A full index of these articles can be found here. Whilst playing around with my servo controller I realised that the power used by a servo goes up considerably when it’s under heavy load (such as when it’s pressing against the table and still trying to move). I can, potentially, get an idea of this load by measuring the current that each servo is using and using this feedback somehow.

L'Hexapod: Servos with status feedback

Previously published This article was previously published on lhexapod.com as part of my journey of discovery into robotics and embedded assembly programming. A full index of these articles can be found here. I saw these Dynamixel DX servos mentioned on Trossen Robotics this morning, see here. They’re interesting because they have a richer interface than the normal hobby servos that I’ve been looking at and they provide a multidrop RS485 interface so that you can chain multiple servos together and control them individually via a single line.