Advice for Quadruped (QSR-X1)

Quadruped Robots

Re: Advice for Quadruped (QSR-X1)

Postby Matt Denton » Wed Sep 07, 2016 2:13 am

You can never spend too much on servos ;)
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micromagic systems ltd
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Re: Advice for Quadruped (QSR-X1)

Postby clh6685 » Wed Sep 07, 2016 11:14 am

haha. In fact is true. Tight budget in expensive hobby.

Matt, I got one question need your advice, have you encounter coxa servo hunting/shaking issue?
It only happen in coxa servo.
I'm wondering what happen?
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Re: Advice for Quadruped (QSR-X1)

Postby clh6685 » Mon Sep 12, 2016 12:52 pm

coxa servo jittering

coxa servo jittering
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Re: Advice for Quadruped (QSR-X1)

Postby clh6685 » Tue Sep 13, 2016 12:57 pm

After some troubleshooting, finally found the root cause.
It turn out is the servo having internal motor noise that passing out through the metal gear. Since my frame design is PCB, the noise goes to others coxa servo and cause the jittering.
After isolation of the coxa servo screw mounting area the problem solve.
So I guess maybe is low end servo might have this issue.
For those who use metal gear servo and horn you might need to take note on this issue.

Image
Image
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Re: Advice for Quadruped (QSR-X1)

Postby clh6685 » Fri Sep 23, 2016 3:09 pm

First automated XYZ translate warm up test footage
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Re: Advice for Quadruped (QSR-X1)

Postby clh6685 » Sun Sep 25, 2016 12:19 pm

First walking test with IK 8-)
UI at VB6, IK in excel.
Sadly this is the maximum speed for current setup. Found that the major slow root-cause is cause by VB and excel data exchange speed slow.
Another major speed issue is due to my servo controller baudrate only 9600.
Maximum FPS is about 18, not including data exchange from/to excel IK.
FPS including IK is only 2. :cry:

IK walking test
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Re: Advice for Quadruped (QSR-X1)

Postby clh6685 » Thu Sep 29, 2016 2:42 pm

Implemented IK into VB.
Initial test looks faster and smoother.
Video coming soon....
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Re: Advice for Quadruped (QSR-X1)

Postby clh6685 » Fri Sep 30, 2016 3:03 pm

Finally, IK build-in in VB coding.
Much better now.

IK walking test 2 (IK embedded in VB)
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Re: Advice for Quadruped (QSR-X1)

Postby clh6685 » Tue Oct 04, 2016 2:39 pm

Bought this cheap SPP bluetooth to test it out.

Image

IK walk test with SPP-C bluetooth data stream
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Re: Advice for Quadruped (QSR-X1)

Postby clh6685 » Fri Oct 07, 2016 2:02 pm

First ever Yaw IK test.
pitch & roll coming soon! :mrgreen:

first Yaw IK warmup test
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