Subject:
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Re: Anyone know how to build a stall sensor?
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Newsgroups:
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lugnet.robotics.rcx
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Date:
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Thu, 6 Sep 2001 18:12:28 GMT
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Viewed:
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1502 times
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In lugnet.robotics.rcx, John Barnes writes:
> I assume you have already discarded the simple approach of using
> a rotation sensor and detecting that it has stopped rotating. (This
> gives you an odometer for free!)
Yes. I just got a rotation sensor. Trouble is that the motors could stop for
a variety of reasons (like the robot isn't moving).
That isn't the real reason though (I could always handle that in software).
The real reason is that ever since I first heard of stall (and slip) sensing
I always thought it sounded kind of neat. Plus a current sensor would be
solid state. Plus I just find it hard to believe that its never been done -
on the RCX that is.
I just read that RCX sensors work by sensing current anyhow (is that right?)
Trouble is I'm simply not hardware savvy enough to know how to measure
current without interfering with the operation of the motor itself. Plus I'd
probably then have to scale it into some specific range. Plus a whole bunch
of other stuff I'm probably not even aware of.
Just thoughts.
>
> Or if you don't have a rotation sensor, you can use the half width six
> hole pulley to interrupt a light in front of the normal light sensor to
> tell when the motor shaft stops spinning.
>
> JB
>
> > In lugnet.robotics.rcx, Jerry Kalpin writes:
> > > In lugnet.robotics.rcx, Paul Andrews writes:
> > > > Hi,
> > > >
> > > > I'd like to be able to monitor the current being drawn by a motor using the
> > > > RCX (not the CyberMaster :-( ), so that I can detect stalls and possibly
> > > > spins. I can't believe that this is particularly hard but I can't find any
> > > > references to one on the web and I'm not a hardware kind of guy so I don't
> > > > really know where to start.
> > > >
> > > > Has anyone done this? Can anyone point me at schematics/build instructions?
> > > >
> > > > Regards - Paul.
> > >
> > > I suppose you've already considered using the white 24 tooth clutch (looks
> > > like a gear)to limit the torque and prevent motor stalls...
> >
> > No. I didn't know it existed. Of itself it is interesting, but I actually
> > want to use stalls as a means of collision detection.
> >
> > >
> > > Jerry
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Message is in Reply To:
 | | Re: Anyone know how to build a stall sensor?
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| I assume you have already discarded the simple approach of using a rotation sensor and detecting that it has stopped rotating. (This gives you an odometer for free!) Or if you don't have a rotation sensor, you can use the half width six hole pulley (...) (23 years ago, 6-Sep-01, to lugnet.robotics.rcx)
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