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How can this 6 axis robot have a static accuracy of 0.05 mm? (2021) [video]

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Re: How can this 6 axis robot have a static accuracy of 0.05 mm? (2021) [video]

#81

Question for anyone who has used one of these analog measuring devices: the indicator seems to go all the way around before the camera zooms in to read the indicated value. Is this video actually showing the accuracy it is claiming?

Yes. The sphere at the tip has a certain radius, and the indicator will show zero (again) when the sphere has been deflected by its radius (i.e. the contact point is exactly at the center line). When out of contact, it's essentially telling you that you're missing at least a whole millimeter to the point where you should be.

Often there is a second needle indicating which of these situations you're in, but I assume it's not considered necessary because if you're 1mm off, the situation is (in the contexts in which these devices are used) very obvious.

Re: How can this 6 axis robot have a static accuracy of 0.05 mm? (2021) [video]

#82

I've seen in the past a different trick that is adding an IMU[1] to the robot arm. When combining two different types of sensors, it's called Sensor Fusion[2], and it's really common to put together a IMU with GPS and slap a Kalman Filter[3] for very accurate position reading. The particularly cool thing of this video though is that they could mount the new sensor within the motor itself, making it all a lot more com…

He goes into detail on the control algorithm of the project on the github. It's rather complicated... https://github.com/adamb314/ServoProject/blob/main/Doc/Theor...

wow I didn't know that Github supported MathJax! Also yeah, that's rather amazing/complicated stuff, thanks for pointing it out!

Re: How can this 6 axis robot have a static accuracy of 0.05 mm? (2021) [video]

#83
post #79
post #49

Earlier quoted context omitted.

The design decisions were acceptable, if they had admitted the fact that the new design necessitated significant new training for the pilots, who were now flying a version of the 737 that could lose positive stability in some corners of its flight envelope….a fact they buried to reduce scrutiny (or facilitate deniability) from regulators and to make it an easier sell to airlines. Bean counters bathing in blood, all t…

The accountants are part of the engineering on large engineering projects. > instead of letting the engineers do their job This is your central point - that you imply engineers are infalliable and therefore it most be someone else's fault. A problem due to systematic effects. As you point out the mistakes have obvious fixes if you have perfect 20/20 hindsight.

There was significant debate within Boeing about aerodynamic fixes for the forward mounted nacelles. The aerodynamic fix was rejected because it would result in additional regulatory requirements for flight testing and certification. The FCS was certifiable with a pen.

You are correct in saying that the accountants are a critical part of the company and the engineering, it’s the MBAs in leadership that I’m referring to derisively.

Re: How can this 6 axis robot have a static accuracy of 0.05 mm? (2021) [video]

#84
post #20

If anyone wants to build this sort of thing the new Raspberry Pie Pico 2 is both orders of magnitude more capable than the chip used here and also around half the price. It's by far the best value for money for an introductory 32bit ARM/Risk embedded device right now.

It’s relatively old at this point, but I’m still getting excellent performance from the Teensy 4.1. It’s a little more expensive, around $30, but runs Cortex M7 @ 600MHz and includes a generous compliment of I/O and protocols.

The IMRXT1011 is $1.70 when bought in bulk from China from various vendors - it can do most of the things the Teensy has.

A reputable vendor: https://www.lcsc.com/product-detail/Microcontrollers-MCU-MPU...

The IMXRT1064 can be had at $7: https://www.lcsc.com/product-detail/Microcontrollers-MCU-MPU...

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