KHR2 Self-oscillation completely solved!

[Ray]

Hi,

After study with Servie Pack 2 of KHR2,
http://www.kondo-robot.com/AppData/KHR2HVSP2.EXE
the self-oscillation or some resonance problem of the servo had been solved.

I think, the main reason of oscillation is due to mechanical noise pick up at the feedback resistor (variable resistor), and the Default Digital transfer function has a very sensitive shape at the natual frequeny.


In the SET1, SET2 and SET3 function, it manage the pulse stretch strength, the weeker its values, the more stable the system.
However, the torque will degrade as the value decrease (less gain slope).
you can try and get the best value.
However, the value suggested by SP2 for (scocer game) is quite Ok!

[heke]

Hi,

After study with Servie Pack 2 of KHR2,
http://www.kondo-robot.com/AppData/KHR2HVSP2.EXE
the self-oscillation or some resonance problem of the servo had been solved.

I think, the main reason of oscillation is due to mechanical noise pick up at the feedback resistor (variable resistor), and the Default Digital transfer function has a very sensitive shape at the natual frequeny.


In the SET1, SET2 and SET3 function, it manage the pulse stretch strength, the weeker its values, the more stable the system.
However, the torque will degrade as the value decrease (less gain slope).
you can try and get the best value.
However, the value suggested by SP2 for (scocer game) is quite Ok!

I think the original construction manual included a notification that gain should be reduced for the arm servos.

[Ray]

Hi heke,

Have you get your optimum setting for KHR2?
please share


Everything is ok, but I find a new problem is that when I replace the
battery with AAA size, and set the corresponding ICS for more stable motion, KHR2 cannot getup (with face down).

Now, I am trying to turn the Led servo to give more bending ......
I think the CG is not close enough to the legs when KHR2 bend his body.......

I also find that KHR2 can change its ICS setting during a motion, that is good to rearrange its torque disbution .....but I need more study in the manual. Do you have any idea?

[biz]

currently I'm using KHR-1 with KRS-784ICS servos. In Heart-ToHeart ver1, there is SET1~3 mode for servos as well. Can u explain more on it, coz i cant really figure out wats the usage for them in KHR-1?

[heke]

Hi heke,

Have you get your optimum setting for KHR2?
please share

Maybe you have read this thread already:
http://robosavvy.com/modules.php?name=F ... 9&start=15
That's all what I can help