Gravity compensation and Spherical robot joint with AK60-6 actuator

[@JoeyMcCart]

no one else on youtube makes videos about this type of thing as good as you and as informative

[@MatterLabz]

Great review of their motor. The gravity compensation is really interesting. These new out of the box intelligent motors are amazing.

[@tomcypher3864]

Nice, but we're all here waiting for the actual arm! XD

[@Skyentific]

It is coming. Just need some more time! :)

[@paulkirchhof9546]

@@Skyentific very interessante

[@michaelflude9805]

Great channel. Really informative for someone like myself who doesn't know much but is interested.

[@Will_Huff]

At first, I thought that sound was a kettle, but I think that might be the actuators singing. Are they making a sound ?

[@Skyentific]

Yes, they make noticeable noise, especially, when I fix it to my table

[@luxbotics7503]

We actually tried these for a new prototype Skelton for our next humanoid version and the company developing the new Skelton had incredible issues with the motors. over 2 months with issues and the support in China couldn't solve it. Violent uncontrollable vibrations when using 3 or more motors, and aa I said the support in T-motor and the developer we had, couldn't solve it in 2 months. Because we need more than 3 in the application of the humanoid, of course, we had no other choice but to find another brand. The company doing the prototype had 8 motors of this model and only 2 worked without issues. Were we unlucky? I don't know but still, the T-motor didn't replace and send us new ones.

[@deldrise9169]

What brand did you go with

[@maxmfilms]

What motors did you end up choosing?

[@luxbotics7503]

we use another brands motor controler/driver@@maxmfilms

[@ososTV149]

I plan to use 3 only, will there be problems? Also, it would be nice if you suggest an alternative

[@juanpablocanguro]

Looks exactly like the Gyems RMD X6 you presented in another video... can you compare it?

[@grahamparr4451]

Your videos are really good ,thanks for making them

[@derekusery5607]

I'd love to make this and make it stronger. I have huge dreams.

[@Moti0nGFX]

Great Upload time, but i feel you- the night is young!

[@МишаТорбас]

Nice videos man, good luck to you

[@richardprogramming9402]

Could you share us the code please?

[@Mr_nuke99]

Its literally 4 am and here you are 😂

[@bodell2]

Hello, reaching out to see if you are using jumpers provided by the manufacturer to directly connect the motors?

[@yayser]

I used to get rid of the motor control sound by increasing the pwm frequency on Arduino. Would the same method apply here as well?

[@hayrisafa8]

8:00 sounds like kettle boiling :D

[@yfgu759]

can bus id may set to 8 and some number multiply by 8，such as 16、24 etc. when id is higher then 3

[@Sigmatechnica]

looks like a nice actuator. They are getting cheaper. Shame there is no uk distributer as shipping and import duty is going to make it a lot less cheap :(

[@Build_the_Future]

I love working with CAM Bus, so much better than Mod Bus

[@Skyentific]

Agree!!!

[@mangaeater3077]

So inspirational 😊👍

[@Truthsetsyoufree100]

I have overcome the issue with the encoder limit for continuous rotation. Also for a car/drone all you have to control is the speed which is easily handled by the onboard controller

[@Truthsetsyoufree100]

Thanks for these videos btw 👍

[@danielparker285]

Could you please explain how did you overcome encoder limit for continuous rotation issue? Have you changed the firmware? If you did so could you please detail it a bit?

[@danielparker285]

Is the limit only for position limit? For me is it possible to have continuous rotation under current/torque control? For example If I supply continuous 0.5A rms current to its phases is it gonna rotate continuously?

[@Truthsetsyoufree100]

@@danielparker285 it depends on what type of controller you want to use. For a velocity controller you don't have to change anything... as long as you don't use the position controller at all. But for a position controller you can just control the torque and create a software counter for the absolute position. Just update this with a rollover when it goes up and down. Calculate the absolute position by calculating it by the number of rollovers

[@danielparker285]

@@Truthsetsyoufree100 Thank you for your answer. It is so kind of you and these information are so helpful. So if I understood it right, for example, if I command 50rpm rotation speed in velocity mode it will rotate infinitely? And also for example, in current mode, If I command 0.5A it will rotate infinitely?

[@addisonwoods9367]

hey! I would love to know if the ak80-80 actuator is backdrivable, and there isn't actually any information on the subject.

[@Skyentific]

I think it would not be easy backdrivable. But I never tested it. It has high reduction ratio, usually this means less backdrivable.

[@roykepoyke]

Are the motors loud? In the video there is a weird high pitch noise...

[@alexgraphene]

Можно ли сделать такое обезвешивание и удержание рычага на основе обычных шаговых двигателей? В какую сторону копать?)

[@danielparker285]

Is this rotation limit only for position control? Under a constant current/torque control, is it going to rotate continuously?

[@Skyentific]

The firmware is NOT developed for continuous rotation. It is limited +/- 3 turns. So this is firmware limitation.

[@tanjiro3285]

❤️ from 🇮🇳

[@yoavorchen]

Hi, where did you find the CAN messages specification? Like, where did you find that enable is FF FF FF FF FF FF FF FC? And what about calibration / commutation?

[@peatsch2779]

maybe late. But look up the manual. ...FF ... FC ist enable motormode and receive motorstatus. ...FF...FD is end motormode and FE is set position to zero. The offical manual of cubemars is missing this specific part.... There are other shops with a bigger manual. my problem is, that the motor dont send CAN Data when starting it with an µC instead of the software "upper computer"

[@PhG1961]

Awesome !

[@drumbum7999]

your tea is ready :)

[@antlaformica]

What do you think is better in terms of general quality, Gyems, T-Motor, or Chinese MiniCheetah clone? I have to use it in a cheetah-like robot...

[@Skyentific]

My opinion: Gyems - great mechanics, bad electronics (controller); T-motor - the lightest actuators on the market, with solid electronics (controller), but mechanics is bad (huge backlash); Steadywin (chinese minicheetah clone) - somewhere in the middle.

[@Skyentific]

For robot dog: it would be extremely complicated to make it with Gyems controllers, they are not well suited for this.

[@antlaformica]

@@Skyentific They three are the same type of actuators (bldc + planetary gearbox + controller). For fast application, like in the robot dog, apart for quality, they are well suited. Am I right? Why do you think that Gyems are not suited?

[@Skyentific]

@@antlaformica you are right except, that for Gyems actuators it is more difficult to adjust PID values for actuator. And the higher the load the more difficult to adjust PID values. From my experience, with the high load, for Gyems actuator it takes me at least one hour to find acceptable PID values. With T-motor or Steadywin it takes me around 3 minutes.

[@Skyentific]

@@antlaformica But basically they are the same: bldc+planetary+controller.

[@gyntars]

do you only work with Arduino or do you also use STM32 microcontrollers?

[@Skyentific]

Sometimes I use STM32, but mainly I use arduino, especially when I need to do something quickly.

[@Skyentific]

And most of the time I don’t need much power from microcontroller.

[@gyntars]

@@Skyentific if more actuators are connected (~6 pcs) - is the Arduino able to work in real time?

[@vahidnoei8336]

Hi, I have a similar to your code and Arduino and shield. in the serial monitor of the Arduino, I have output, but the motor does not move. I did all thing the same as in your movie. can you help me run the motor? my motor is AK60-6 KV80. Thanks

[@DPTech_workroom]

👍

[@Dantos880]

Is it possible to power this motors with 7s li-ion battery?

[@andychan5902]

can it go faster？

[@Skyentific]

Yes, it can go way way faster. These QDD actuators they are crazy fast, compared with traditional actuators, or with servos.

[@ViciousRC]

Hello, My friend tried to contact you a couple of times with no reply. We are trying to make an AK60-6 work with just forward and reverse functions, PWM off of RC. We are using a Arduino MKR and CAN shield. He subscribed and is a patron. Can you help with this? Thank you!

[@owengrossman1414]

Don’t you have axis 1 coaxial with axis 3?

[@Skyentific]

When the second actuator is at zero axis 1 is coaxial with axis 3. When axis 2 is not equal to zero, the axis 1 is not coaxial with axis 3.

[@prakashuttam8027]

Is it possible I can get the arduino code?

[@Winallmoney]

Huh. I would've figured you'd prefer the 40-7 model of that T-motor (based on your accent).

[@Skyentific]

:))))

[@dinoscheidt]

lololol

[@ryzenryne8747]

AK60-6? Why not AK47 eh?

[@ryzenryne8747]

Shut you bots

[@adosaro]

300$, how much is this in iphones

[@Skyentific]

1/3 :)

[@Dynamodel48]

Pretty sure you just created a hip joint for a 1/10 scale Zaku II. The master grade Zaku II has a hip joint almost identical to this.

[@wei1224hf]

all MIT acutator can not do presiously postion control. motor can not reach the target postion .

[@wei1224hf]

@Rita 25 y.o - check my vidéó Would this be helpful ? I have read the sourcecode , there is nothing to do with the bus id.

[@parsapzadeh8866]

Could you share us the code please?