Subject:
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RE: Simultaneous Control of Multiple Servos
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Fri, 17 Jul 1998 10:09:31 GMT
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Original-From:
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John Hatton <JOHNHA@nomorespamICSPLC.CO.UK>
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Viewed:
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3586 times
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I have included site addresses that I have found useful.
http://www.frasco.demon.co.uk/ Maker of the Hexapod robot using a
buffer of sorts (D-type latches) for simultaneous control. Definitely
worth a look, he's put a lot of information into this site.
http://www.mil.ufl.edu/people/erik/ Creator of Active Bitmap Algorithm
and Servo16 program used in Robobug.
The above address also provides a link to the Walking Robot lab that he
worked for. The software and documentation for two versions of the HC11E
chip are link from these pages , their addresses are :
http://www.mil.ufl.edu/groups/walking/robo14c.zip (Robobug software)
http://www.mil.ufl.edu/people/erik/servo16.zip
http://www.mil.ufl.edu/people/erik/servo16c.zip
These files are all fairly small.
http://www.fzi.de/divisions/ipt/WMC/walking_machines_katalog/walking_mac
hines_katalog.html#begin_machines
This is a catalogue of various walking robots, I don't know how much use
this one will be.
Hope this helps
> ----------
> From: Mike Davis[SMTP:ipscone@halcyon.com]
> Sent: 17 July 1998 04:28
> To: handyboard@media.mit.edu
> Subject: Simultaneous Control of Multiple Servos
>
> I have asked this before and not received much regarding this question. So,
> here goes again.
>
> In building a walking robot, how important is it to control the motion of all
> legs
> simultaneously?
>
> Seems like that pulsing one at a time creates the situation where one leg
> drags
> the others. I know there is a delay between the time an mcu command is
> issued and the time the pulse goes out, but still it seems like one leg would
> drag the others without some kind of parallel controller. I also wonder
> about the
> ability of the serial controllers to perform simultaneous servo control.
>
> Seems like each leg should be programmed to walk identically, and that each
> would have a phase relationship with each other. But all have to be moving
> in
> sync and not one at a time. Is the HC11 a poor choice for this kind of
> motion?
> Or is it just fine? Or does it require some kind of servo controller?
> Mostly I'm
> interested in the walking algorithm and synchronization control.
>
> Is this at all an important issue? How is it addressed? Any web info on
> this? I
> have looked at many walking robot pages but have not seen this addressed.
>
> Thanks
> --
> -----------------------------------------------------------------
> ipscone@halcyon.com Shoot-To-Win!
>
> Protect the 2nd Amendment! Your rights may be next!
> -----------------------------------------------------------------
>
>
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