We need to do these procedures with all the servo motors we will be using and write down the corresponding values for each one, as these are the values it works between to position itself. The movement is slow with 10 "steps" every 50 milliseconds from 30 degrees to 150 degrees. In this case we get the 120 degrees that the MG995 works with. In the following lines we create two loops in which we have to change the data marked in red to position the servo motor between 30 degrees and 150 degrees. #define SERVOMIN 100 // This is the 'minimum' pulse length count (out of 4096) #define SERVOMAX 500 // This is the 'maximum' pulse length count (out of 4096) The first two lines we analyse are the minimum and maximum values of the pulse width for each servo motor, corresponding to the positions 0 degrees and 180 degrees. The following lines belong to the MG995 servo motor sketch. The two sketches are very similar, so we will explain the most important lines of one of the two sketches. To determine the required pulse width data, we use the Servo_check_120_degrees_slow_motion.ino and Servo_check_180_degrees.ino sketches and a protractor as shown in the drawing. According to the data sheet, the MG995 servo motor rotates 120 degrees, while the MG90S and SG90 servo motors rotate 180 degrees. We will develop a robot arm that picks up parts with a gripper and places them elsewhere.įor the operation of our robot arm it is very important to know the pulse width data of the servo motors in order to position the minimum and maximum angle with the adjustment sketches and to bring the robot arm into the desired position. So it is possible for servo motors to move the set, with the electronics for control already integrated there. Balsa wood is used for inlays (marquetry), which is not heavy and yet resistant. We have to look for a material that is not very heavy and inexpensive. The question is: could it be done with servo motors? Ideally, the structure should be of metal and the actuators would have to be stepper motors, but this set is heavy and expensive. The main problem is the weight of the structure of the robot arm and the actuators to move it. Would it be possible to build a small robot arm with simple electronic modules and components? These industrial robots have powerful motors and special electronic circuits to control movements according to programmed coordinates. Their movements are precise and continuous, as if I was in a dance class. It has always fascinated me to see the movements of robotic arms when they do all kinds of work.
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