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robot idea

Daniel Lyall
Intellectual 330 points

Hi i am thinking of make a robot arm.

My question is what would be the best board to use and I have some small 24 vdc motors is it possible to connect up an encoder to them so I can control there position and speed like a servo they are quite strong motors I would use them for the base and main arm of a robot arm.

the robot arm I am thinking of makeing is this one http://ufactory.cc/

  • 0
    Guru 192875 points

    Hi Daniel,

    First of all I would like you to go through the motor technologies available in C2000 family:

    http://www.ti.com/ww/en/mcu/instaspin/index.shtml

    Here are the kits you can shortlist once you're sure which tech ie FOC or Motion etc suits you.

    http://www.ti.com/tool/launchxl-f28027f

    http://www.ti.com/product/tms320f28069M

    http://www.ti.com/tool/tidm-threephase-bldc-lc-inst

    Regards,

    Gautam

  • 0 in reply to Gautam Iyer
    Intellectual 330 points

    yer that gives me something to think about I was going to use a arduino but I don't wont to go down that way as there are to many rude word people on there forum that will give you an answer or give you abuse.

    Ti on my sort list 

    the C2000 is what I was thinking of using but to my second question would connecting a encoder to the motors I have  give me position control.

    I can make my own encoders using  Photo interrupters I have a heap of them so I would use two per encoder.

  • 0 in reply to Daniel Lyall
    Guru 192875 points

    daniel lyall said:
    yer that gives me something to think about I was going to use a arduino but I don't wont to go down that way as there are to many rude word people on there forum that will give you an answer or give you abuse.

    Haha... Is that so?

    daniel lyall said:
    Ti on my sort list 

    That's great and you're at the right place!

    daniel lyall said:
    the C2000 is what I was thinking of using but to my second question would connecting a encoder to the motors I have  give me position control.

    Quadrature Encoder Interface and Hall Sensor Interface is available for speed and position
    measurement.

    daniel lyall said:
    I can make my own encoders using  Photo interrupters I have a heap of them so I would use two per encoder.

    I'm not sure how efficient they would be but again depends on your application.

    Also, to get detailed info about the labs and other docs, you can install MotorWare™

    Regards,

    Gautam

  • 0 in reply to Daniel Lyall
    TI__Mastermind 22025 points

    Daniel,

    Gautum is absolutely correct.  There are many different types of sensors you can add to your system to accomplish position control.

    Building your own encoders using photo-interrupters is entirely possible, although you probably won't get quite the same performance you would with a professional unit.  To start I'd print out a encoder disk and play around with the photo interrupters to build up a proof of concept.  A quick google search yielded this disk which I think would make a good starting point:

    http://groups.csail.mit.edu/mac/users/pmitros/encoder/optical-encoder-ring.png

    Best of luck in your adventure with the robot.  If you ever have questions about TI technology we are always here to help!

    BR,

  • 0 in reply to Trey German289
    Intellectual 330 points

    Thanks I will be testing this weekend its just an idea at this stage.

    I am building a robot as it will help make something else I am going to be making.

    because if a board is grunt enough to run a robot it will be more than enough to run my other project, what is a arm attachment for disabled people who like me have not got a lot of function in there arms.

    also what I can buy compared to what I can make is a very big differences. what I can buy has more than 30 different parts to it, what I have already made to test with what works has a lot less parts on it and cost a lot less as in $500

  • 0 in reply to Daniel Lyall
    Guru 192875 points

    Keep up the good work, Daniel!

    Goodluck & Regards,

    Gautam

  • 0 in reply to Gautam Iyer
    Intellectual 330 points

    for the photo interrupters I am  useing two of them for a start would I be better connecting the power to them in  series or in a star  configuration.
    I have already connected them up in series on a bread board I think that blue one of them up, as I tested each one first by them self and they all worked then one died.

    I am using these ones Slotted Optical Switch OPB821Z  from http://optekinc.com/datasheets/OPB821S10Z.pdf

    the connections are from this site http://heliosoph.mit-links.info/photointerrupter-basics/

    if any one has a better way of doing please let me know

  • 0 in reply to Daniel Lyall
    Intellectual 330 points

    don't respond to above as I have it sorted 

  • 0 in reply to Daniel Lyall
    Guru 192875 points

    daniel lyall said:
    don't respond to above as I have it sorted 

    That's Great!

    Regards,

    Gautam

  • 0 in reply to Gautam Iyer
    Intellectual 330 points

    a question since I have everything sort of working how many encoders can be connected to a C2000.

    a arduino can only do one so to do more there is a lot to do so that's out the window and I hate asking questions on there forum as you get 2 kind of answers more like 3 dumb, stupid and correct.

    so it looks like the C2000 will be what I will use as long as it can take two encoders and 2 or 3 servos.

    also the dc motors I will be using are 24 vdc 1.4 amp what drivers should I use and any other bit just some advice would be good I have looked through the motor wear stuff its a bit confusing I am still learning about all this stuff

  • 0 in reply to Daniel Lyall
    TI__Mastermind 22025 points

    Daniel,

    It depends on the device.  F2802x devices do not have a quadrature peripheral, while F2803x have one, and F2806x have two.  

    You mention servos and DC motors in your post.  Are these separate motors or one in the same?  Could you give me a little more information on the type of motor?  Are these brush-less or brushed, etc.? Once I have more information I can make some better recommendations for you.

    BR,

  • 0 in reply to Trey German289
    Intellectual 330 points

    its a brushed DC motor I pulled it out of a old printer it had a photo interrupter on it what I know can be used for speed sensing.

    It will be a diy encoder I will be using. so I can get position control over the motor I wont to use it as a servo like the type you get on cnc machines.

    I am doing Its so I don't have to buy a motor with an encoder, as I have a lot of photo interrupters and motors that I pulled out of the printer I pulled to bits.

    If I can get the motor working with position control I will be using the same thing on a couple of other projects.

    I am starting with the hardiest project first as I think it will help me under stand what I am doing better.

    I can give you more info on the motors latter in the day if you need it