Collision detection and Gravity compensation with the almost perfect actuator (AK10-9 V2.0)

This is really powerful actuator (servo), it has cross roller bearing, it has temperature sensor, and it has MIT mini Cheetah controller. According to specs it is exceptionally good. But is it as good as it sounds?
To get this actuator:
Sales Engineer: Yoyo Liu
Mobile/Whatsapp:[phone]
Email: [e-mail]
Skype: Yoyo@T-MOTOR
Follow me on LinkedIn: Yoyo Liu
Website: www.cubemars.com
Special thanks to my special Patrons: RobotDigg Shanghai, Shounak Bhattacharya and M. Aali!
Please subscribe. This will help me to develop other projects like this, to bring the bright future closer!
One time donation:
www.paypal.me/Skyentific
If you want to help this channel, please support me on Patreon:
/ skyentific
Instagram: / skyentificinsta
Facebook: / skyentificface
Twitter: / skyentifictweet
#Robotics #Actuator

[@tHaH4x0r]

If you are interested in collision detection, it might be interesting to look into energy based control. The idea is that the robot has a certain 'energy tank' that it can use during movements. If you want to make a certain movement, you estimate how much energy that would need, and you 'fill' the tank with that amount of energy. The robot can never expend more energy than this for its movements, and thus the amount of applied energy can be limited. This means that you can even have 'safe' interaction with springs and other elastic energy type storage. I definitely agree with you that a temperature sensor would much improve the usefulness of the motors. Motors are not inherently limited by the amount of current or power, but purely by thermal considerations. The usually stated 'max power' is only for a longer duration, and you can far exceed that during short bursts of movement, which can be very handy. Especially so, as most robot interactions are not sustained high power, but short power pulses. It means you can use a much smaller motor for the same performance. The only thing is, you have to be careful not to thermally overload the motor, and for this a sensor is of course better than any other method of estimation. A talk given by Wesley Roozing for IROS of last year talks about two of these points: Field weakening and thermal management. I think you would find these very interesting.

[@audirs71]

could you please give an example on how you would define the energy and how it exceeds with a collision?

[@markusbuchholz3518]

Thank you for brilliant video and and generally for unique channel. Your technical content is perfectly performed, consistent and always challenging. Awesome how you prepare all your test rigs and mockups. Presented servo is excellent and can be applicable for many different applications (especially build in ROS). Good luck. Have a nice day!

[@PhG1961]

Awesome and entertaining video. As usual... I've been waiting to see a new video coming up from you... finally you're back 🙂

[@andersmeiniche2746]

Should it sound like a mad dunkey ? :D

[@laureanorodriguez5790]

Great Video and Great Actuator, I've just bought two of them. Thanks!

[@stefanguiton]

great videos as always!

[@vell0cet517]

Another excellent video. It'd be cool to get a bigger power supply and max out the torque. Hope 2022 is treating you well!

[@HimanshuGhadigaonkar]

Thank you very much for making such informative videos..

[@user-xx3lj2ul3c]

Всегда хороший контент!!!

[@hosseinashkboos5188]

You grew a beard within 20 minutes! How? You must be a magician! I like your channel. Thanks

[@Blayzeing]

Really interesting video, thanks for doing it! For ease of reading, next time you're showing the serial output from Arduino, could you use tab characters ("\t") instead of spaces? That way the numbers will all stay in one space (more or less).

[@davidbarrett7424]

That beard appeared out of nowhere fast! Should help your programming thou ;-)

[@konserv]

Really cool actuator 😎 I'm thinking, you can use model lipo battery as high current power supply. They are much cheaper than high current power supply and are portable. But a bit dangerous, I store my batteries away from flammable materials.

[@CaryChristieII]

Great videos! How hard would it be to control the AK60-6 with PWM from an RC remote?

[@muhammadnoman9721]

HI, I need sample code for CAN Bus through Arduino

[@audirs71]

about your collision demo. I try to understand how it exactly works. do you increase with the joystick the position? is your motor so fast, that dx is very small? and if you hold the arm, is dx bigger and hence the torque exceeding the defined threshold?

[@audirs71]

hi! amazing work 😄 I have a question regarding the terminal resistors. It seems to me that you connected both to the arduino end. should you not have one at the ak10 end?

[@Skyentific]

Great question. Yes you should. But in my case the cable is very short, so it does not matter.

[@i_might_be_lying]

Gordon Freeman does actuators review. That's kind of content I subscribed for! )) On a serious note - with current level of actuator features/price it looks like there would be a huge value in doing proper integration instead of creating your own actuator. What I mean is that actuators already reached good enough price/power/functionality to be really useful in some sort of robotic arm. So maybe it is better to allocate much more resources to do integration with those actuators, instead of creating your own?! Because proper frame with existing actuators + support electronics + controller hardware and software would already rival some of the cobots on a market. Later, SW can be improved further, which might jump start the whole "cheap but good" cobot industry, like it was with 3D printers.

[@nathandavis5021]

Can you compare the torque measurement to the actual torque being applied? I am curious how accurate you can measure the torque applied without an external torque sensor.

[@sujaysundar7076]

Same quesion!

[@4LXK]

Could you make a review video on the MIT minicheetah and go into depth why it is your favourite? Especially compared to odrive (and maybe the pro beta)?

[@webjoeking]

He did compare them a while back, but an update would be nice given some of the new updates from Odrive. Here is the video: kzbin.info/www/bejne/jZOUmKaAabBnpq8

[@audirs71]

Hi, are you also using the CAN shield from sparkfun? How did you select the bitrate of 1 M bps?

[@DPTech_workroom]

You need an Eltek FlatPack 1500, or ELTEK SMPS-1000 power supply.

[@dimitrischreiber9140]

Would you know the backdriving torque?

[@christophegroulx8187]

Nice video! Just a small precision, you mention that quasi direct drives are less than 10:1, but shouldn’t you also include 10:1? I’m saying that since 10:1 is still only one stage of gearing.

[@nickldominator]

Wow. those graphs in their software 7:34 (and even the tab names & position) look like the were taken directly from the VESC Tool 🤔 Can imagine maybe they use the same library for graphing under the hood, but the names and position of the tabs are identical... EDIT: Oh wow at 10:06 this looks very identical to all the controls for setting up VESC motor, I wonder if they 'lifted' a lot of VESC Tool and VESC Firmware code to implement this and not attributed any of it back..

[@etcetera1129]

I Like how your beard matches the shape of the actuator

[@piconano]

I don't know much, but do they not use cycloide gearboxes with zero backlash for robotic joint manipulation?

[@Skyentific]

As far as I know, very few robots use cycloidal gearboxes. 90% of them uses harmonic gearbox. And, as far as I know, zero backlash cycloidal gearbox is quite expensive to manufacture.

[@piconano]

@@Skyentific ok thx

[@yvescortellini9026]

Very nice Video! Whats the price of this ?

[@dimitrischreiber9928]

What is the moment load rating for the bearings?

[@Skyentific]

Great question, unfortunately this company does not give this information on the bearing. (It does not even gave the rated axial and radial load on this bearing).

[@EXplorer1.6180]

Can you share the list of electrical components you used to run the motors. I have AK 70 motors

[@Skyentific]

It is simple: power supply, arduino uno, can-bus shield from sparkfun, and two resistors 120 Ohm (termination resistors).

[@kaifbhojani7979]

Can we get a sample code for CAN controll through Arduino for this motor. Thank you!

[@akimrain]

hey bro, did you manage to actuate your motor?

[@akimrain]

@@kaifbhojani7979 do you also have ak motor?

[@kaifbhojani105]

@@akimrain yes, I have worked on it!

[@thunderinvader9031]

Я правильно понимаю, что термодатчики внутри обмоток?

[@Skyentific]

Насколько они пишут - да. Но я не разбирал и не проверял.

[@slava.chukreev]

How are they doing with technical support and warranty? I bought a servo drive My Actuator, it turned out to be faulty, I did not receive any guarantees or support.

[@akimrain]

Вячеслав, вы покупали такой мотор от них? подскажите пожалуйста как вы смогли его запустить через Ардуино?

[@akimrain]

hello, Vyacheslav

[@user-dl2ym8fj8g]

thanks for kind tutorial. I wonder if you had any problem controlling with arduino. I have V1.1 of this actuator but it seems that the "Enter motor control mode" message does not work. CAN connection seems to be fine because I receive every replies.

[@akimrain]

hi, did you figure out your problem?

[@user-dl2ym8fj8g]

@@akimrain yes cubemars q&a center told me that V1.1 doesn't support servo mode. MIT mode only.

[@akimrain]

@@user-dl2ym8fj8g alright, and what hardware did you use to control ur motor?

[@user-dl2ym8fj8g]

@@akimrain sorry my first reply was a misunderstanding your question. Forget it. ROBOTIS' OpenCR1.0 is my embedded controller. I forgot designating the length of the message and that was the reason my message did not work.

[@zhenyanyap6227]

@@user-dl2ym8fj8g hi could you share your code with me? My motor doesn’t seem to enter the control mode. I would really appreciate if you could.

[@R0LLM0P]

who makes the elctronic brake at 11.13? where can I get one?

[@Skyentific]

AliExpress: magnetic powder brake, 50Nm. I bought it from Yun Daun shop on aliexpress. I paid 350USD with shipping. (I also found Italian company, who makes such brakes, but they are way more expensive).

[@TheNamelessOne12357]

So MIT Cheetah controller is better than ODrive now?

[@Skyentific]

I prefer MIT Cheetah, as it is way easier to use. But ODrive is more silent and more smooth. Also, I believe that MIT is faster.

[@AlanM0r3n0]

Hello Where download the firmware?

[@ahmadobeidat2027]

Where can I find the code?

[@akimrain]

does anybody have arduino can bus code to run these motors? CAN SOMEONE PLEASE SHARE?

[@kirankokiwala4080]

Very informative video. Thanks .I wanted to build robotic arm but I can't get any good tutorials .Sir can you teach how to build robotic arm ?

[@christophegroulx8187]

Just watch his other videos

[@VadimBolshakov]

Hello, Dr. Octavius...

[@dzmitry195]

Мужик ты реально крут. Хотелось бы ещё хотя бы субтитры на русском. Было бы вообще круто.

[@egorshubin5738]

Hey, guys! I have 14 same motors and a lot of problems with them. If you want some advices, or you have some expirience with this motors, leave a comment. I try to connect with you to make experience exchange)

[@sounavailable]

I was considering ordering one for tests. May I ask, what kind of issues did you experienced with them?

[@VideoStefan17]

a comment!! ;)

[@kurtsvl]

что то акцент подозрительный ?

[@artemt1987ify]

Is it just only me or there is some screaming noise of the motor? Sounds quite bad

[@justanotheranonymous4381]

You call over $700 motor cheap? Seriously?

[@chemicalcorrosion]

When you first started this channel, you used common stepper motors($17) and affordable out runner BLDC motors. I was exited and got on board. Now, you are promoting motors costing $500+ dollars. I’m no longer excited and feel let down. So sad. Many of us could possibly build an affordable(remember your words) robotic arm with a few nema 17’s and an Ender 3(or clone) 3D printer. Very FEW can afford these expensive motors and drivers. Hopefully you can get back to that AFFORDABLE robotic arm.

[@christophegroulx7816]

It’s only 800 dollars for a motor, reducer, controller and encoder.