From a8a7f4cb0322a20b2b5dc9e28885d5a4dc448c55 Mon Sep 17 00:00:00 2001 From: Wouter Horlings Date: Thu, 30 Jul 2020 10:19:08 +0200 Subject: [PATCH] Add documentation for arm update --- implementation/SCARA/06_arm/implementation.md | 11 +++++++++++ 1 file changed, 11 insertions(+) create mode 100644 implementation/SCARA/06_arm/implementation.md diff --git a/implementation/SCARA/06_arm/implementation.md b/implementation/SCARA/06_arm/implementation.md new file mode 100644 index 0000000..16a86c9 --- /dev/null +++ b/implementation/SCARA/06_arm/implementation.md @@ -0,0 +1,11 @@ +## Complex Arm Design. + +So I improved the arm design. +With my modern robotics library this became very very easy. + +Although, I forgot to set all the variables correctly. +This resulted in a small arm piece to have a mass of 0.5 kg. + +Anyway, after I resolved that, the design worked very well. +The controllers are reduced to a double proportional controller. +The operation is really good.