Dynamixel robot arm moving around smoothly

[@AnkurDeka]

Cool! Can you post videos of Inverse Kinematics on this arm?

[@freezingist]

Fantastic demo - thank you so much!

[@PlanetOLLO]

can you explain more about 1x serial-com circuit thingy?

[@ElectronDust]

+Jinwook Kim Hello. Sure! The Dynamixel AX-12A servos get their data (goal position, speed etc.) via a "TTL Level Multi Drop"-bus (it seems to be called “half duplex serial communication“). It works like a normal serial bus (the ones you generally use with computers) except that there's only one physical wire which is used for sending data and receiving data. Normally you would use 2 wires (Rx and Tx) for sending and receiving. Since There’s only 1 wire for both ways, you need to put together a small circuit which switches the wire which comes from the AX-12A servos to the Rx wire of your computer (or in this case, the Raspberry Pi) whenever the computer expects some data to receive or to the Tx wire, whenever there’s some data the computer wants to put out on the bus. Here’s some more reference-material: www.memememememememe.me/the-dynamixel/

[@raihanzainal2781]

Can you give me the circuit communication?

[@statorworksrobotics9838]

Beautiful

[@Abhimanyusingh-oy3hk]

. Can you explain how you are getting such smooth motion out of dynamixel. I am trying to run a sine wave through it, and my motion is very jittery. I ma using AX12A

[@ElectronDust]

The Raspberry Pi is just changing the goal speed several times per second, so that it appears smooth. Here's a blog post with more information: electrondust.com/2017/10/28/raspberry-pi-robot-arm-with-simple-computer-vision

[@uzelektroniktv8567]

Code where