Thanks! I studied electrical and computer engineering for undergrad and grad school, but then largely worked in software for robotics professionally and only dabbled with electrical and mechanical design until mjbots!
I can't say I know much about designing encoders. In this video, I just show how to use an external off-the-shelf encoder with the moteus motor controller.
Sure, there are a wealth of resources online! Try starting here, which will give you a bunch of things you can google: ruclips.net/video/ipKEqVc2Sk4/видео.html
Hi Josh, I was was wondering if the moteus controller uses the encoder to control the bldc phases or if it uses FOC, or both. Keep up the awesome work!
It uses FOC control (which means it uses knowledge of the rotor position to control commutation). Currently, the only way for it to monitor the rotor position is through the integrated absolute magnetic encoder. It might be possible to implement a sensorless estimator in the future, but it does not support that now.
So far, only the AS5048B and anything with a matching I2C protocol. If you have another I2C encoder of interest, let us know and it can be added without too much work.
It should be possible, but won't work out of the box as its I2C interface uses a different register layout. Is your reason for considering that part purely cost, or some other factor?
Would an encoder only on the output (and not on the motor shaft) be sufficient to control the motor commutation or does backlash / some other transmission characteristic give it poor performance?
Typically they would not be suitable, either because of backlash or reduced resolution. If you had a very low pole counter motor and a low gear reduction with minimal backlash it might be feasible.
What did you study and what's your day job? All the things you do on this channel are very impressive and close to what I'd like to do professionally
Thanks! I studied electrical and computer engineering for undergrad and grad school, but then largely worked in software for robotics professionally and only dabbled with electrical and mechanical design until mjbots!
@@awesjosh Thank you!
I've become a fan of your work sir you are great sir
Awesome work
Very interesting! Seems like it will be useful for the quadruped I'm planning on making
Hey roboticist i want to learn how to design a encoder like you! can you please suggest me for educate myself?
I can't say I know much about designing encoders. In this video, I just show how to use an external off-the-shelf encoder with the moteus motor controller.
@@awesjosh any course suggestions from you ? or is it possible learn how you design this moteus motor controller? I want to learn .
Sure, there are a wealth of resources online! Try starting here, which will give you a bunch of things you can google: ruclips.net/video/ipKEqVc2Sk4/видео.html
nice
Hi Josh, I was was wondering if the moteus controller uses the encoder to control the bldc phases or if it uses FOC, or both. Keep up the awesome work!
It uses FOC control (which means it uses knowledge of the rotor position to control commutation). Currently, the only way for it to monitor the rotor position is through the integrated absolute magnetic encoder.
It might be possible to implement a sensorless estimator in the future, but it does not support that now.
Great! What type of encoders are already tested?
So far, only the AS5048B and anything with a matching I2C protocol. If you have another I2C encoder of interest, let us know and it can be added without too much work.
@@awesjosh thank you! I will also try as5048b
@@awesjosh what about as5600 encoder, it also works with i2c
It should be possible, but won't work out of the box as its I2C interface uses a different register layout. Is your reason for considering that part purely cost, or some other factor?
@@awesjosh I have few and as5048b is out of stock on aliexpress
Would an encoder only on the output (and not on the motor shaft) be sufficient to control the motor commutation or does backlash / some other transmission characteristic give it poor performance?
Typically they would not be suitable, either because of backlash or reduced resolution. If you had a very low pole counter motor and a low gear reduction with minimal backlash it might be feasible.
wow