Improvement of a low-cost intelligent servomotor
Abstract
In this article is described an improvement implemented to the Dynamixel AX-12 servo motor, a low-cost intelligent servo motor widely used in the design and construction of advanced robots for entertainment and research. The modification of its software and hardware is detailed in order to change its original communication protocol to SPI and with this to achieve higher data transmission speeds between servomotors of the same type and supervisory computer systems that operate in real time. Additionally, a PD controller with feedforward is programmed to regulate both the speed and the angular position of its load axis, with a sampling period of 1 [ms] (10 times greater than what was achieved with the original servomotor). Finally, the conclusions obtained regarding the satisfactory behavior of both the theoretical and the experimental are described.
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