I’m trying to understand the pros and cons of different approaches to manually controlling a robot arm, like the AL5D, for use in a timed pick/place competition. The arm will contain at least 5 servos (waist, shoulder, elbow, wrist, gripper) - 6, if wrist rotation is also implemented.
One approach is to use a 6-channel, fully proportional RC controller. Benefits include:
- Inexpensive ( < $50)
- Simple (no programming)
Concerns include: - Would want gimbals to maintain position when released. Could simply removing the centering springs do this?
- Would the comparatively limited range of motion of the gimbals provide enough movement resolution in the arm?
- How to handle > 180 degree rotation (i.e. base)?
- Can’t seem to find much info from folks having done this - limited support community
Another approach is the PS2 controller/BotBoarduino. Benefits include:
- More flexibility for functionality and modification (e.g. gripper release with button press)
- Great community support via these forums
Concerns include: - Higher cost ( > $50)
- Requires programming (though, sample programs are available)
- Servo position not proportional to joystick position (i.e. servos actuate when joystick moved from center, stops when returned), which may lead to slower arm reaction/movement.
If anyone cares to weigh in with thoughts or advice, I’d appreciate it.
Thanks,
Eric