Why the brushless controllers are awesome for robotics

[@bensaxon3829]

This channel is very underrated. Your style is unique, your content is high-quality, and your designs are innovative!

[@Skyentific]

Thank you a lot for such kind words. I really appreciate this!

[@ipellaers]

Aye, he's like that one teacher you'd listen to because he could actually hold your attention.

[@drjackal520]

Yes, KZbin likes drama and BS, not actual valuable information,👋

[@bensaxon3829]

dr jackal Totally agree

[@davidcurtis8375]

Very good video. Very clear explanation of the phase control and nice, simple Arduino code. I really love the haptic feedback demonstration. One thing to watch for as you continue to experiment: closing a control loop around the SPI output will work well at slow speeds, but it gets more difficult at higher motor speeds because of the latency in reading the SPI. At high RPM, by the time you get the position from SPI, you only know where the motor *was*, not where it *is now*. You may need some kind of predictive model based on RPM to get good control at higher RPM.

[@Skyentific]

Great comment! Thank you for this info. This is very important to know. I knew that with this setup I would not get high speed. First, Arduino Uno is not the fastest microcontroller. Second, I don’t account for the phase shift between current and voltage (Arduino send voltage, but motor reacts on current). And your argument is the third reason which will limit the speed. I really like youtube for this: many people gives nice ideas, and explanations in comments! :) Thank you again!

[@PatrickABiggs]

Absolutely fantastic. This is exactly what I was looking for. I'm so glad I found this channel. Well done and thank you.

[@Quarky_]

I think this is the fastest I have subscribed to a channel, after watching just one video! Really nice content, and presented very clearly, with a bit of humour ;)

[@Skyentific]

Thank you and welcome! :)

[@gubski1]

Beautiful 3D printed jogs you have. I admire your design skills. Keep up the good work and thanks for sharing this great content.

[@nippyinvestments196]

Zis Channel iz very educative ,thanks Sir

[@lyuboslavilov]

Hey man! Yet another very cool video!

[@Skyentific]

Thank you! Nice to hear this.

[@judhi]

The video quality will be much better if you place the light sources carefully to prevent excessive reflection on the white board. Waiting for more of your videos!

[@Skyentific]

Yes, I agree. But unfortunately, my small room does not allow this. I tried many times.

[@judhi]

@@Skyentific maybe tilting your board a little bit will help? Or place the light at ceiling corner? Maybe this nice tips help kzbin.info/www/bejne/jnykZKajnKp4erc

[@bogdanpashchenko2142]

Конечно, есть наше традиционное "лэт ми спик фром май харт", но контент шикарен 👍🏻

[@mishich666]

Угадайте территорию, на которой придают значение акценту? Бинго! Я уверен - вы угадали.

[@Testoslav_Testenko]

@@mishich666, везде придают, потому что бывают акценты, которые сложно понять даже носителям

[@eugene-d]

Ну, акцент замечают многие. Но, кому-то он даже нравится (если судить по коментам ниже). Признайтесь честно, есть куча каналов с идеальным английским. Но смотрим мы почему-то именно этот... Качество контента решает!

[@Testoslav_Testenko]

@@eugene-d, конечно, ведь попробуй пойми, что они там говорят на идеальном английском, а здесь и субтитры не нужны.

[@eugene-d]

Я хорошо понимаю и северных англичан, и американцев южных штатов и даже французов с индусами, когда они говорят на английском. Поверь, мало кто в видео про робототехнику вкладывает столько инженерной мысли, как автор этого канала. Все как-то спешат слепить в одну кучу все изобретения человечества, доступные на АлиЭкспресс, и поскорее выложить результат в сеть. Вот и выходят или дрожащие поделки на сервах или монстры по цене однокомнатной квартиры. Наверное, меня тоже учили, что сначала бы разобраться с теорией вопроса. Тогда и применять потом как-то приятней. Хотя есть конечно толковые каналы во многих странах. Желаю всем добра, а каналу развития.

[@luisramos9001]

This is awesome! Great job!

[@dunichtich100]

Nice glases at the begining 😂👍

[@Skyentific]

Thank you :)

[@dunichtich100]

@@Skyentific Ps: The force feedback idea is great! 😊

[@RupertBruce]

Perfect for exoskeleton projects!

[@FilterYT]

Very cool! Thanks.

[@know_ivan]

Man you are so coll! Please tell us about yourself! Your education, your way to robotics.

[@JFTechnologies]

Thank you sir for the knowledge. I recently come across your channel and I wish I had this opportunity before while I was designing my robotic arm. But definitely I will modify my Arm and share the results with you. Keep inspiring. I wanna help you in any way I can, but not enough money to support you on Patreon. Please let me know if there is anything I can do.

[@rajat0610]

need a tutorial for the body controller XD

[@RedBeard20842]

I desperately wish the flex to spin was true. I know some people that are really good at flapping their jaw. They would be a powerhouse.

[@Skyentific]

:)

[@satibel]

if you have a sensitive enough motor it could work but such a motor would probably be way too small.

[@nikollatesla6635]

Wait. So is the flexing thing untrue? Or is it possible

[@satibel]

@@nikollatesla6635 theoretically you could probably use the few micro or nanowatts it generates to make a micrometer scale motor rotate

[@SoumyaMaitra2008]

Awesomely!!

[@mariomlinaric9861]

Hello sir, and thank you for great videos. I still have some problems with connecting AS5048A to arduino. I bought the encoder together with gimbal motor and the encoder has 3 wires I believe for PWM connection. I am trying to connect it to Arduino nano and read the value of the encoder and display it on Arduino serial monitor. Is the serial read from analog input the right way to read the encoder value? If you know any example code available I would be very thankful. Thank you very much.

[@MikeDuckworth]

where did infos go??

[@PavelShreyder]

OK, I'm just going to order everything you had just to repeat the experiment! What 3D priner you have?

[@ciarfah]

I liked your body controller haha!

[@Skyentific]

:))))

[@jamiekawabata7101]

I tried it and it didn't work. Then I realized the wire in my left hand should have been in my mouth and vice versa. The wire in my right hand was correct. I would have thought that such an error would just make it turn the opposite way.

[@TiagoPontes]

what sorcery is this? hahaha so fun

[@virkotho5057]

@@jamiekawabata7101 You have to put the first wire in the ear, second in mouth, third in the a*s... no, wait... first a*s, second ear, third ... baahhh s*it ;-)

[@ciarfah]

@@virkotho5057 You must swap them rapidly to drive the different coils;)

[@CycloidalHeadache]

Where are you sky???? ROBOTICS NEEDS YOU BACK BLYAT

[@EnUsUserScreenname]

I absolutely love your russian/french accent, its beyond awesome!

[@jonwatte4293]

Skyentific: "and how to calculate the phase difference..." Me: yes! I've always wanted to know! Skyentific: "...is beyond my knowledge" Me: :cry:

[@Skyentific]

Sorry for this. I actually downloaded paper about this. But it not really easy. I am trying to understand it. And if I will, I should make a video about it.

[@TheNamelessOne12357]

@@ParabolicLabs Yes, and, i guess, you can easily create same precalculated array of PWM values in Excel or Calc.

[@taterbits]

@@Skyentific yes! Definitely make a video! I will watch it. I probably won't understand it, but I will watch it :D

[@joaopaulocoelho5401]

@@ParabolicLabs Title of the paper plz?

[@32353235e]

Never imagined that the amount of electricity muscles make is enough to turn a motor for more than some single millimeter at maximum.

[@_Simon]

im pretty sure that was a joke

[@tlmoller]

A stage trick 😂

[@ArtMGavr]

I was so amazed! Lets go to learn something about our body

[@engineeredaf1920]

everyone film yourself and post a video.!!! I can see this being the next banger tik tok

[@wpegley]

@@engineeredaf1920 Imagine the world if everybody shared the best of themselves, instead of being subjected to the worst on the evening news? Tik tok

[@Scott_C]

This is one of my "several comments" on this video to help YT get the word out about this awesome content.

[@RubixB0y]

I love the idea of the "magic line" of code in the telepresence demonstration. It's fascinating how such simple rules like in the "boid algorithm" can lead to such rich, emergent behavior.

[@Schroefdoppie]

Finally something on KZbin who ACTUALLY understands AND properly explains in simple terms how PWM works ✔ Your channel just gained another subscriber. 👍

[@Manofcube]

Trinamic also has a new BOB coming out that has a complete FOC solution onboard for up to 10A. It's called the TMC4671+TMC6100-BOB But it's not available yet.

[@Skyentific]

This is cool. Thank you for info. I will check.

[@jonwatte4293]

You can buy FOC controls from a bunch of suppliers for a bunch of power envelopes. VESC, ODrive and Roboteqs are all good, lightweight, and high current. At different prices :-)

[@unglaubichuberlieber8048]

skyentific, of all your videos, this ONE IS THE MOST informative+CHALLENGING, i watched this video multiple times, noticed in this setup, you did not use a driver ( like vnh2sp30 or vnh5019...forget those l298n ), this raised my question, in your setup, can this be applied to LARGE torque servos, like super500??? thanks again, PLEASE STAY HEALTHY !!!

[@GAment_11]

Seriously awesome. Can you get reasonably high torque out of the brushless motors? It seems that when the brushless motor is going slow....it acts sort of like a stepper motor. That said, I assume you get more torque out of a Stepper than you would the brushless motor controller....but the advantage to the brushless motor controller you could have higher speed? Thoughts? Your videos are great, thanks for sharing.

[@xaytana]

Telepresence is interesting and works well for a 1:1 input:output, but in an actual steer-by-wire setup in an actual vehicle, how would a motor on a steering rack effect the telepresence on a directly driven steering wheel? I know some production vehicles do have this, but I've always heard steer-by-wire is an odd feeling form of driving a car, and I've always wondered if the direct input but indirect output has anything to do with this. I'm sure there's a way to even out initial input and final output, such as 1:x for the control and y:1 for the actuation, thus having a total 1:1, but I have a feeling that steer-by-wire would still feel odd if initial input and final output still had a theoretical 1:1; probably due to the slight latency of electronics that you don't get with direct actuation. I'm also curious how telepresence in brakes work, or brake-by-wire, as the output goes to a hydraulic setup, thus again being indirect. Again, some production vehicles have this, but I've always heard it feels entirely different compared to brakes directly actuated by the pedal.

[@mailo66]

Very nice!! In a DC electric motor the voltage and current have phase shift due to back EMF which depends on the angular speed of the motor. It generates by the Lenz law about an inductance with a thru current moving in a magnetic field. In the application here described the angular speed is almost zero so the back EMF is negligible with respect to the applied voltage. In this conditions the motor is like an electrical resistance (almost without inductance effects) and Voltage and Current are not phase shifted anymore. This reveals why the control works fine acting on voltage like it is acting on current. And there is no need of a driver with a control loop on current.

[@elmakcnc5960]

Very good lesson thank You .Can You make video how to controll 6,7 axis robotic arm with any simple and affordable controll board base on free software :)maybe u know any easy to use software for beginners. Maybe Rasberry Pi with any beginner friendly software :)

[@chris746568462]

This is exactly what I have wanted for AGES. A mini robotic arm that you move to control a larger one with feedback. Its such a brilliant solution too.

[@aniketmandhare226]

What happens if my driver cannot output enough amps to the motor? Can i use a 5 A rated driver to run a 20A rated motor, atleast as a test set-up? Can i make modifications to the driver so that it can handle higher current?

[@CarlinComm]

Oh, I almost missed what you were saying about the tele presence and force feedback. I hope you get to explore that idea more in the future. Thanks for making these videos, I appreaciate your enthusiasm! Keep up the great work, and stay safe!

[@Scott_C]

This was a great episode. I loved lifting the lid on what the motor controller is and does. More of this please!

[@janakaone]

I am new to electronics and planning to try the method of running the motor with muscle power. But I have not seen that method before.

[@MuscatZulu]

Absolutely Excellent explanation. Thanks👏

[@dekutree64]

7:30 I hate those tiny LEDs. I always cover them with black acrylic paint, which gets them down to a tolerable brightness.

[@Skyentific]

Agree!!! Good idea.

[@MrSpikegee]

Totally agree. I have white or black duck tape to hide all these in my house.

[@chris746568462]

Whiteboard/permanent marker in clear silicone works well too. You can adjust the brightness and colour

[@MrGarkin]

Missing links in the description simplefoc.com/ github.com/askuric/Arduino-FOC

[@MecatronicaDIY]

i love youur videos, you are amazing !! saludos desde peru !! wuuuu

[@Sigmatechnica]

This is really awesome, Odrive is very expensive and overkill for getting started. This is a much more accessible option

[@dekutree64]

Very interesting video indeed! That last demo also looks like it would be useful as an electronic differential for RC cars, or for synchronizing legs when jumping with dog type robots.

[@Skyentific]

Yes, completely agree. I started this entire video only for this demo :)

[@ernestohernandez7137]

Great channel! Just a question. Why store the sine function values in an array when you can define a sine function as a function of time? Is there any benefit in using an array instead?

[@Skyentific]

I think it is a little bit faster like this.

[@boblelan]

It is called a lookup table, the sine values are precomputed with some limited precision to avoid calling expensive software sin() function from the C math library every time.

[@lee6741]

It's a matter of implementation considering all limitation and where to optimize. How big/ available is your memory, how strong/ busy is your processor, how large are the values you want to store, etc. And here, IMHO, the values are small and constant enough to store in memory and not sacrificing processor's calculating time.

[@ernestohernandez7137]

Thanks guys!

[@snmcma]

Вери найс, мен! Интерестед )

[@wylieecoyote]

Very nice project! I can find a lot of use for the force feedback which gives a rudimentary form of sensation.

[@JulianMakes]

really interesting! i did know about the wiggle powered brushless motors, but i hadn't realised the main phase is assisted by the 'other' phases too, with your graph it was super obvious, thanks so much! (i'm about to plug in my odrive eeeeek wish me luck!). cheers o/

[@TonyHammitt]

You could make a Waldo, control your robot arms with some gloves/arm position sensors. I've always wanted to have those

[@tswdev]

If this "telepresence" could be used over radio (assuming lag is low enough). You could use it to add force-feedback to RC cars and "feel" the road :D You should definitely do this project!

[@Skyentific]

It can be used over radio, and it is possible to make the lag small, as there is no much data to transfer. Great idea!

[@eelcogg]

This is a very good idea! Not just cars, think RC airplanes with force feedback stick control so you can feel turbulence and stall conditions, or racing drones where you feel the inertia due to sudden direction changes. Combined with first-person view, it will be a totally immersive experience.

[@shakyawar]

Loved your work... keep making such detailed videos and keep explaining code in detail.. it helps a lot.

[@whiteflag2366]

This is a funny video :) Thanks for sharing.

[@petermarton3743]

I very happy to find your channel, i really like to hear about NASA technologies! And my wife accepted your channel, so I can watch your videos all days ,any time! :D

[@stephenwelch4237]

Hi, do you by chance know what model the brushless motors you used in the demonstration were? I've been designing a small 3D printed robotic arm and those look perfect in terms of torque and size.

[@Skyentific]

I don’t remember the model, and it is not written on motors. I bought them 4 or 5 years ago, and I know that they don’t produce them any more. I bought them on hobbyking.com.

[@strongbad2795]

Really love the video! I'm going to show this to colleagues who need help with motor control.

[@jonwatte4293]

That pun was .... terrible!

[@Skyentific]

Thank you!

[@morkovija]

Interesting stuff. Cant wait for the near future when diy boston dynamics dogs are everywhere

[@PiefacePete46]

1.5x playback everything - thank me later:- Who's going to clean up the yellow poo on your lawn? :o)

[@sabtvg]

Thank you, very practical

[@vladkozunenko]

очень крутой контент! спасибо! продолжайте в том же духе!

[@КонстантинБакшеев-в6г]

Здравствуйте. Подскажите как вы решаете вопрос позиционирования? С помощью ПИД-регулятора?

[@Skyentific]

Да именно так

[@ericlotze7724]

I was wondering if anyone would be intrested in making a Open Source KiCAD toolbench for modular ODrive Placement on Boards?

[@ericlotze7724]

So you could make a single motor odrive board, a 10 motor odrive board etc. Also integrate it with a larger pcb if desired.

[@PhG1961]

Great ! With a sense of humor !! I like it ;-)

Wow thanks for this real explanation of how to control brushless (three-phase) motors!! this really makes me want to experiment with this motors!!

[@Skyentific]

Glad to hear this! Thank you!

[@johanbotha9755]

These motors should work well with a worm-gear in robots. High gearing, and will hold position, as the worm-gear normally has self locking

[@landerii2728]

So that's why humanity ended up living in the Matrix!!! You shouldn't have revealed that fact to Deus Ex Machina!!!

[@rohanverma6058]

Thanks, you’re are a great teacher

[@CNC-Guru]

Hahahahha Skyentific you are making me laugh. How many people tried putting wires in their mouth?

[@dimstr8714]

Как всегда, весело и познавательно. И, как всегда, кровь из ушей)))

[@vldgrs]

Я голосую за "зэр-а" и "пи-дубль-вэ-эм" :D А вам какие понравились?

[@TheNamelessOne12357]

Why don't you use closed loop stepper motors? They are slower, but they hold position much better. It's really hard to turn the shaft with bare hand, as you do with brushless motor. And it's better to use STM32 MCUs to drive such motors. They have "advanced-control timer", which can output correct 3-phase sine wave signal in hardware, and also timer to read optical encoder in hardware or DMA to read digital encoder vie SPI or I2C, so STM32 can drive brushless motor without consuming any CPU resources. That's why ODrive uses STM32 :)

[@arunrony9188]

I have been following videos and they are really inspirational. So I started building an arm. Can you please suggest on how to add AS5600 encoder to controller (DRV8825 Arduino Mega) shown earlier without soldering to create a closed loop stepper(I bought encoders)

[@rayeaglenz]

Always very interesting, so clearly presented, narrated, explained, impressive design, many thank yous :)

[@Skyentific]

Thank you a lot, for such kind comment!

[@maxcali863]

Shidaalka lagala boxo Kilinka Shanaad aya boqol jibaarkiis kabadan. Maanta hadey Shidaalka Kilinka Shanaad xaquuq ulahaan lahaayeed maanta UAE ayo kale aye udhisankareen. Shidaalka degaanka Somaliyeed Itoobiya oo dhan aya lugu biila, taas na xaq ma aha. Qoyskaste kunool Degaanka Somali Itoobiya $10.000 aya bishi kuso aadileheed.

[@scaletownmodels]

Very interesting. I really liked the telepresence implementation.

[@ToonaciousD]

I love this video so much.

[@dempa3]

Thanks for the interesting video! I'd be interested in watching videos on how brushless motors are designed. How does design for a target torque, rpm, and/or efficiency? How many windings, polarpairs and why? Thanks again!

[@ThanhTran-dq8on]

I "tried" plugging a motor to my mouth and two hands, but no movements!!!! what gives?!???? Yes this is very interesting. I wanted to build something like this for a long time. The interaction of two motors are like magic!!!!

[@dustinjohnson4504]

I’m so confused. I’ve been trying for over a year, practicing to get the motor to move with my mouth. I’m doing exactly what you did down to the eyebrows. Are you moving your legs as well?? I’ll try adding some leg movement to it. I hadn’t thought about that yet.

[@ezurakuro]

I have a similar project with the last example you show, making a robot arm with force feedback. With brushless motor it is working, but somehow when I change the motor driver and motor to brushed one, I can't make it to work. Sad

[@samhziegler]

I keep coming back to your channel, trying to find information about using common esk8 motors for robotics. Are you familiar with the odrive project?

[@slapcitykustomz1658]

Thank you so very much for explaining the code in detail Ive been stuck on it the last few days

[@srsr6099]

Wow, amazing, I've been always interested in bldc motors & their controllers, your video have me some good insights into it, thanks

[@zanaga1901]

How do you program the Meccanoid robot I just got a neural network compute stick and I should be now to just program him to learn tasks by itself since I have the USB compute neural stick from Intel now. I saw it said I had to have Windows 10 also to program on a PC my PC doesn't but my dad got one that has it so I can but the thing is I don't know for sure how to program a Meccanoid robot to run off a neural network through that chip I got now. But maybe you would know. The Meccanoid doesn't do a lot of things now that is why I wanted to program it to run through this neural network so it can learn a lot of things to do on its own since that is what a neural network does.

[@matteoricci9129]

Didn't get that exactly but did you try to smooth the reading from the analog input (RC filter or running avarage)? That could have helped on the unwanted movement without the spi reading

[@mertcapkin7263]

which motors and encoders are you using? It would be nice if you could share some links! :)

[@tttuberc]

Could you please tell what kind of magnets were used on top of the motors for the AS5048A encoder? would a bar type magnet work?

[@olavogazzola2650]

How about force multiplier for a cyborg like arm?, where you could enhance human strengh.. that would be cool...

[@dokmetasonur]

Wow. With that technique, it can be a good feedback for robotic remote controller and vr gloves...

[@yanbo2u]

This is Awesome! It is the funniest brushless motor video I have ever seen. Great work. Wonderful!

[@gauthiersornet6051]

Thanks for this very interesting video :)

[@Skyentific]

Thank you for watching and for comment. :)

[@MarinusMakesStuff]

Where did you get those sunglasses? :D Thanks for this wonderful explanation. The motors are not really available for my budget, but maybe some time in the future, when I get an assignment to use these kind of motors, I will know way more to start with. I especially like the feedback system.

[@davisburnside9609]

Your 3d printed parts are so clean and smooth!

[@hybridinnovate]

А теперь вопрос по делу. Для работы верхнего ключа, если питание бустрепное, необходимо включать нижний ключ. Но не получается ли так , что при включении нижнего ключа, на мгновение, мы противодействуем вращению двигателя

[@marian-gabriel9518]

Awesome presentation. Well structured and presented. Really enjoyed this even though I knew most of the stuff, I never thought of doing this telepresent effect with them. BUT maybe make them sing next time both with frequency modulation and PWM width modulation, that should be interesting.

[@startobytes]

Very interesting accent

[@markmaker2488]

Great tutorial 👍 love the steer by wire explanation

[@rahilsheikh3653]

This is the best channel for understanding robotics, brush-less motors and other stuff. The quality of knowledge given here is best. Keep uploading such useful videos God bless you sir.

[@IceManFab94]

Third one here. You have really blown me away with the basic test rigs that you have made, and the data on mini cheetah clones...etc. I cannot wait for you to get some more subscribers to see what mental stuff you come up with!

[@NistenTahiraj]

Amazing explanation; I never learned in highschool that you can produce a magnetic field in any direction just by altering 3 sine waves of current and it all just clicked in 5 minutes into watching the video.

[@rob010976]

Just found the channel and like the video post. Many in my hobby are starting to move to brushless motor setups and this is certainly helpful!