i would like to ask about the control of servo motors. As i know the actual servo motors have PID control, for controling speed, position and torque. As i have seen these motors have a gui, which you can buy with the servo motor. These GUIs give you the posibility to input the speed and the position. The torque they control itself.
I need a servomotor, which gives the possibility to put as the target size the torque and the position. The velocity should regulate the controller.
Are there some such servo motors with torque and position as input?
Low end servo motors don’t have torque sensors included. Servo motors/actuators with embedded torque sensors can be found in the high end/industrial range which will cost a couple of thousands of dollars. This being said, the new Lynxmotion Smart Servos and some of the Dynamixel smart servos like the X series (for example : https://www.robotshop.com/en/xl430-w250-t-dynamixel-smart-servo-motor.html) include an actual current sensor inside that can be used to provide a rough estimate on the load/torque applied on the servo and thus, use this value to do a closed-loop torque control. However, the torque control loop would need to be implemented on an external controller as it’s not implemented in the servo internal controller/MCU.
