Pictures
Videos
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Video demonstration of the controller. The test program puts the PUMA through a series of joint movements at various torque values.
In this video, Seth and Nhat breakdown the controller and explain the major sub-systems. Seth explains how to correctly start up the controller for operation. In this video, Nhat is testing the limits of the H-bridge prototype. It is connected to an amplifier producing 24 volts and 8 amps. The prototype held up great after a few minutes of operation. Here is our first full test for a single PUMA arm joint. A simple C program generates a PWM signal on one of the MOTENC-Lite card's output pins. The PWM signal and an external power supply are connected to the H-bridge, which moves the PUMA arm joint. | ||||||||||