RoboSavvy Forum

what is "torque free run condition"?

2010-08-06T20:13:32+01:00

Certanly I don't have aditional information than the info we all can see on the Web pages of the project.
However I was very impressed for the flexibility of the robot, because it simulated in great way the natural movements of humans, naturally affected
Maybe the user "flowers" who post the experiment can enhance the information regarding this life-like movments on the Acroban Robot.

merlin

Statistics: Posted by Merlin — Fri Aug 06, 2010 8:13 pm

what is "torque free run condition"?

2010-08-05T20:11:35+01:00

Merlin, can you explain in more detail how torque free run is used here ?

It appears that torque/effort/compliance are being managed very carefully.

Statistics: Posted by i-Bot — Thu Aug 05, 2010 8:11 pm

what is "torque free run condition"?

2010-08-05T19:13:25+01:00

An excelent demostration of the "torque free run condition" is used with this project:

http://flowers.inria.fr/acroban.php

Check it out, it is amazing

merlin

Statistics: Posted by Merlin — Thu Aug 05, 2010 7:13 pm

what is "torque free run condition"?

2010-07-21T20:12:13+01:00

If the torque is enabled the AX-12+ hold actively (applying force) its position
you can't move (spin) it with your hands (well, without breaking it)

If the torque is disabled the AX-12+ doesn't apply any active force to hold its position, you can move (spin) the servo with your hands. It can keep slightly its position because there are some gears inside.

I think that it doesn't affect the its movement.

Statistics: Posted by siempre.aprendiendo — Wed Jul 21, 2010 8:12 pm

what is "torque free run condition"?

2010-07-18T20:19:59+01:00

Hi,
Sorry for perhaps a dumb question...

What is "torque free run" mode with the AX-12?
All I see in the manual is as follows..

Address 0x18 Torque Enable.
When the power is first turned on, the Dynamixel actuator enters the Torque Free Run condition (zero torque). Setting the value in Address 0x18 to 1 enables the torque.

It sounds straight forward, but could mean any of several things.

1. on power up, the motor cannot move (no torque) until you set this bit. This seems like the obvious answer, but I know this not to be the case because the motor moves without first enabling this bit.

2. on power up, there is no torque sensing/limiting until this bit is enabled. This would indicate that the motor runs at maximum torque until the bit is set.

3. if the torque overload error bit is set then the motor will stop moving until the torque enable bit is set. This is how torque enable works in my experience, but it still doesn't really explain what "torque free run condition" is.

thanks,

Statistics: Posted by nsted — Sun Jul 18, 2010 8:19 pm