Introduction

For the engineer robot, a custom controller is advised to act as the physical twin for the arm on the actual robot. Therefore, I was tasked to overlook the general design of the custom controller and was also responsible for writing all the control code from scratch.

Control - Embedded Program

GITHUB link to the code: GitHub - yammmyu/Engineer_Custom_Controller 

This code is a very lightweight and clean control code that is capable of the following:

• Triple Loop Cascade PID Control

  • Individual Angle, Speed and Torque control

  • Integral overaccumulation Protection

  • 0 to 2pi jump protection

• CAN communication, retrieve and send

• Pack and send Angle reading data to DJI software

Mechanical

The drawing below is by me, which gave the general idea of how I want the custom controller to look like. The idea behind this design is to create something that fits human ergonomics instead of an actual physical twin that we need to adapt to.

The CAD work was done by my teammate, and thus I will not go into detail about.