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Pilotage des servomoteurs : TTL, RS232, RS485

Modes de contrôle des servomoteurs

Regarder la classification des constructeurs permet de se rendre compte des différentes manières de piloter un servomoteur :

Cela va donc du contrôle PWM jusqu'aux bus et protocoles industriels :

Introduction au contrôle PLC

https://celka.fr/ocw/plc-control/modbus/intro-modbus/intro/ 

Protocoles de communication

Dynamixel :

Feetech :

https://esp32io.com/tutorials/esp32-rs485 

Modèles commerciaux fermés

Niryo Ned 2

https://niryo.com/fr/produit/bras-robotise-6-axes/ 

https://github.com/NiryoRobotics 

DAGU Six-servo Robot Arm

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  • 5DOF Manipulateur + 1DOF Pince
  • 6 servos
    • 3x 13 kg.cm torque metal gear, 40.4 * 19.8 * 36 mm, 48g, 0.22s/60°
    • 1x 3.2 kg.cm, 39.5 x20.0x35.5mm, 41g, 0.27s/60°
    • 2x 2.3 kg.cm, 28 x14x29.8mm, 18g, 0.13/60°
  • Carte de contrôle AREXX Intelligence Centre

https://seafile.unistra.fr/d/693101e6046d4819a3af/ 

https://arexx.com/product/robot-arm/ 

www.arexx.com.cn 

Modèles Open Source

Open Manipulator-X

https://emanual.robotis.com/docs/en/platform/openmanipulator_x/specification/#specification 

SO-ARM100

https://github.com/TheRobotStudio/SO-ARM100 

https://github.com/huggingface/lerobot/blob/main/examples/10_use_so100.md 

https://medium.com/@sarohapranav/my-experiences-and-tips-for-creating-a-robotic-so100-arm-3df779a4aae7 

https://github.com/JafarAbdi/ros2_so_arm100 

Cartes de contrôle

OpenCR1.0

https://emanual.robotis.com/docs/en/parts/controller/opencr10/ 

  • STM32F746ZGT6 / 32-bit ARM Cortex®-M7 with FPU (216MHz, 462DMIPS)
    Reference Manual, Datasheet
  • Programmer : ARM Cortex 10pin JTAG/SWD connector
    USB Device Firmware Upgrade (DFU)
    Serial
  • Digital I/O
    • 32 pins (L 14, R 18) *Arduino connectivity
    • 5Pin OLLO x 4 
    • GPIO x 18 pins 
    • PWM x 6
    • I2C x 1
    • SPI x 1
  • Communication Ports
    • USB x 1 (Micro-B USB connector/USB 2.0/Host/Peripheral/OTG)
    • TTL x 3 (B3B-EH-A / DYNAMIXEL)
    • RS485 x 3 (B4B-EH-A / DYNAMIXEL) 
    • UART x 2 (20010WS-04)
    • CAN x 1 (20010WS-04)

Waveshare Serial Bus Servo Driver Board

 https://www.waveshare.com/wiki/Bus_Servo_Adapter_(A) 

  • Supports connecting to a host or MCU 
  • up to 253 ST/SC series serial bus servos
  • RS485
  • UART pour contrôle depuis Arduino, ESP32, STM32 (RX-RX, TX-TX)
  • USB pour contrôle via Raspberry, Jetson ou PC
  • 9~12.6V voltage input (the input voltage and the servo voltage must be matched)

Feetech FE-URT-1 

https://www.feetechrc.com/FE-URT1-C001.html 

AREXX Intelligence Centre

https://seafile.unistra.fr/d/693101e6046d4819a3af/ 

  • atmega168 MCU
  • RS232
  • default baud rate is 115.2k
  • Wifi wireless control reserve the ISP downloaded, you can download the MCU controller program using the STK500 ISP cable

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  • dual - Power Supply
    • 6 ~ 12 V SCM power
    • 4.8 ~ 6 V, 1.2A servo motor power [servo motor power supply Road 1-16 respectively, a 17-32 road supply port])

Servomoteurs

Dynamixel XM430-W350

https://emanual.robotis.com/docs/en/dxl/x/xm430-w350/ 

  • 4.1 [N.m] (at 12.0 [V], 2.3 [A])
  • 46 [rev/min] (at 12.0 [V])
  • 10.0 ~ 14.8 [V]
  • Operating Modes
    • Current Control Mode
    • Velocity Control Mode
    • Position Control Mode (0 ~ 360 [°])
    • Extended Position Control Mode (Multi-turn)
    • Current-based Position Control Mode
    • PWM Control Mode (Voltage Control Mode)
  • baud rate 9,600 [bps] ~ 4.5 [Mbps]
  • TTL Half Duplex Asynchronous Serial Communication with 8bit, 1stop, No Parity
  • RS485 Asynchronous Serial Communication with 8bit, 1stop, No Parity

Feetech STS3215

https://www.feetechrc.com/en/2020-05-13_56655.html 

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