Search found 27 matches

by hebi_guru
Thu Jul 01, 2021 2:17 pm
Forum: General
Topic: Sending position-velocity-torque commands together
Replies: 1
Views: 4699

Re: Sending position-velocity-torque commands together

When doing position-velocity-torque control the commands are meant to be sent together, and the actuator combines them at the low level with separate PID controllers for each. As long as these commands ‘agree’ they let you track a trajectory with much lower gains. If they 'don’t agree' - like if you...
by hebi_guru
Thu Jul 01, 2021 1:31 pm
Forum: General
Topic: What is the 'Effort' parameter?
Replies: 1
Views: 5178

Re: What is the 'Effort' parameter?

The "effort" reading is really just a reading of the torque, and is based on the output of the actuator. As these are series elastic actuators with a spring element in them, there is some hysteresis that comes along with the torque calibration. When you apply a load in one direction on the actuators...
by hebi_guru
Thu Jul 01, 2021 12:00 pm
Forum: Kits|Other
Topic: How high can a Hexapod climb?
Replies: 1
Views: 17840

Re: How high can a Hexapod climb?

Daisy/Lily should be able to climb a single step, or a set of multiple steps, up to ~300mm in height. If climbing a set of steps, I don’t think anything with a pitch steeper than 45-deg would be likely to work, regardless of individual step height. Please note, this would require custom software wor...
by hebi_guru
Wed Jun 30, 2021 4:54 pm
Forum: Kits|Other
Topic: Multiple NUCs on Daisy Hexapod?
Replies: 1
Views: 17310

Re: Multiple NUCs on Daisy Hexapod?

In our standard configuration, if you need to power a second NUC, we recommend using the accessory DC-DC converter to power it, using the 12V output. Alternatively, we recommend attaching another DC-DC converter of some sort. If you don't do any of the above steps, you may see one of your computers ...
by hebi_guru
Wed Jun 30, 2021 12:19 pm
Forum: Kits|Arms
Topic: Power Supply for my X-Series Arm
Replies: 1
Views: 17859

Re: Power Supply for my X-Series Arm

The power distribution board has multiple connectors so you can plug in multiple actuators. All the outputs are the same, so it does not matter which one you plug it into. The quickstart guide http://docs.hebi.us/#x-series-quickstart has pictures about how everything goes together. If you are assemb...
by hebi_guru
Wed Jun 30, 2021 12:03 pm
Forum: Kits|Other
Topic: Igor Onboard Computer Power Supply
Replies: 3
Views: 20436

Re: Igor Onboard Computer Power Supply

The Intel NUC computer used in Igor is powered through a converter that takes the nominal 36V input from the provided LiGo batteries and converts it to 12V, which is the required voltage to power the NUC. This is highlights in the image below.
image (8).jpg
image (8).jpg (80.52 KiB) Viewed 20433 times
by hebi_guru
Tue Jun 29, 2021 5:28 pm
Forum: General
Topic: How do I read log files?
Replies: 1
Views: 4676

Re: How do I read log files?

The HEBI log files are in a binary format that saves all the information received from the actuator. It will generally be slightly different sizes even for runs of approximately the same duration. Depending on your preference, there are several ways to access/view the data: 1) Scope (recent versions...
by hebi_guru
Tue Dec 31, 2019 3:25 pm
Forum: Scope
Topic: Running Scope alongside APIs
Replies: 1
Views: 4023

Re: Running Scope alongside APIs

Absolutely, that is the way Scope is intended to be used.

Scope is designed to run in conjunction with anything you may be doing from the API, from either the same or a different computer. The plotting tools in particular are an extremely useful tool for online configuring, tuning, and debugging.
by hebi_guru
Tue Dec 31, 2019 3:22 pm
Forum: General
Topic: Which API should I use?
Replies: 1
Views: 4445

Re: Which API should I use?

It depends. It is probably best to start the with language you are most comfortable in. If you are just starting out in programming, the Python API is probably a good starting point. If you are at a school or company that has access to Matlab, the Matlab API can be useful. The full list of supported...