hi everyone
I writing a matlab code to control the al5b.
I want know each joint is in which position.
for example I want know the base joint is in which position to calculate the error for this joint.
thanks
If you want to be able to read the actual joint positions, you will need to add sensor to your arm. Unfortunately, standard R/C servos do not have a feedback signal to use with a microcontroller.
The servos do have their own internal controller with PID feedback loop, so if you are outputing a R/C PWM signal you will know that the servo is in that position (with a slight error margin).
It is also possible to open the servos to add a wire to access the internal potentiometer feedback. This feedback can then be attached to a analog input on a microcontroller.