Stanley Lio is working on a RC Servo and PID autotune project:
The robotic arm built for the magnetic field measurement project leaves several things to be desired.
- After a new servo is installed, finding the mapping between PWM duration and DH angles is done manually with pen and protractor. I want to automated this.
- The arm trembles and oscillates at certain poses. I want to be able to tune the PID parameters of the RC servos, and experiment with different control algorithms.
I can use the IMU mounted on the arm to automate these tasks, or even use computer vision. Would be interesting to have the computer auto-tune the PID parameters.
I also want to go one step further and combine computer vision with the arm.
Move the arm with real-time input devices such as mouse, keyboard, gamepad, camera etc.