No straight limbs
No straight limbs
by Inaki
Fri Mar 04, 2005 12:02 am
Well I have completed the assembling and have connected the servos to every channel. I have checked the assembly by powering the PCB on before attaching the cable holding screws.
Legs, head and trunk seem to stay right (that is, in cross shape).
The problem is that the KHR legs are not straight. Left leg is almost straight but right leg is not. It is about 10 degrees off with respect to the other leg. I am checking this without coneecting the KHR to a PC, just putting the power ON and looking at the KHR.
I was expecting this to happen because I detected small differences among servos and was unable to orient the hone properly when in neutral position (that is I was unable to point all the hones to North after I connected the servo to the PCB in order to find the neutral position).
The question is: should I adjust the misaligned motors and joints before proceeding further and until all them are straight or is the software able to compensate for small assembling differences ?
Boy, I took a great care to assemble the parts the 'right' way. I am pretty discouraged.
Legs, head and trunk seem to stay right (that is, in cross shape).
The problem is that the KHR legs are not straight. Left leg is almost straight but right leg is not. It is about 10 degrees off with respect to the other leg. I am checking this without coneecting the KHR to a PC, just putting the power ON and looking at the KHR.
I was expecting this to happen because I detected small differences among servos and was unable to orient the hone properly when in neutral position (that is I was unable to point all the hones to North after I connected the servo to the PCB in order to find the neutral position).
The question is: should I adjust the misaligned motors and joints before proceeding further and until all them are straight or is the software able to compensate for small assembling differences ?
Boy, I took a great care to assemble the parts the 'right' way. I am pretty discouraged.
by Meltdown
Fri Mar 04, 2005 1:17 am
First welcome fellow KHR-1 owner!
Now i don't feel so alone (with Timor we are 3 now) here
This can be done in the software.
It's all in the software manual. Do you have the english manual?
If not you can get it here at Savvys under Ducumentation.
Look in the software Pdf or written manual page 19
under Trim function.
All is explained there.
Note!
This is only useful for small adjustments like yours probably is.
If you have to enter more than a value of 10 in the software trim
you have to reposition the hone on the servo itself, because otherwise
you will be limiting your effective range of the servo.
Where are you located?
I'm in Holland
Now i don't feel so alone (with Timor we are 3 now) here
This can be done in the software.
It's all in the software manual. Do you have the english manual?
If not you can get it here at Savvys under Ducumentation.
Look in the software Pdf or written manual page 19
under Trim function.
All is explained there.
Note!
This is only useful for small adjustments like yours probably is.
If you have to enter more than a value of 10 in the software trim
you have to reposition the hone on the servo itself, because otherwise
you will be limiting your effective range of the servo.
Where are you located?
I'm in Holland
