This week, I attempted to try and see if getting more positions was a possibility for the wrist and elbows. In the development of the ViBRA, we recognized the limitation of using binary values (1 and 0) to control the servos on the Arduino, as it restricted us to only two positions for each joint. To overcome this limitation and allow for smoother movements and more positions, we decided to explore the possibility of using angle values for servo control. This meant modifying both the Python code and the Arduino sketch to enable the transmission and interpretation of angle data.
Initially, we thought this would be a straightforward process. We made adjustments to the Python code to calculate and transmit angle values based on the position of the wrist and elbow. Simultaneously, we modified the Arduino code to receive and interpret these angle values and use them to control the servos more precisely. However, as we delved deeper into the implementation, we encountered unexpected challenges. The main hurdle was the inconsistency in servo movements when using angle values. We realized that the servos' response to angle inputs was not always linear, leading to inaccurate positioning and unintended jerky movements. Additionally, the overall responsiveness of the arm to angle inputs was not as expected, and we encountered issues with jittering and overshooting, making it challenging to achieve the desired precision.
After extensive efforts to fine-tune the angle-based control, we concluded that while it had the potential to offer more positions and smoother motions, it would require substantial optimization and servo-specific calibration for reliable performance. Due to time constraints and the complexity involved, we decided to stick with the binary control approach for majority of the movements, as it was more stable and provided sufficient functionality for the initial phase of the project. Nevertheless, we acknowledged that this could be an area for future exploration and improvement, possibly involving advanced calibration techniques and custom servo control algorithms to achieve the desired angle-based control for the robotic arm.
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