servo_ax12a

gazebo simulation model for the servo motor ax12a including Geometry, Physics, Electric and SW APIimg

Status

This project is currently in finalizing Step 1

While Steps 1,2 and 3 are the heart of the servo and might in future ebe shared with a generic servo component, Steps 4 and 5 are much more time consuming, specific to the ax12a but would really bring an added value

Step 1

• Simple Box including right size and weight
• rotation joint axis with the trurning cylinders
• simple plugin with a topic for direct torque control

Step 2

• include an electric model that limits the torque depending on the angle speed
• change the interface from direct torque control to current reference with probably a small current loop

Step 3

• Position control including approximation of the ax12a internal firmware PID so that the topic can change to a PWM reference signal (just width not binary pulse)

Step 4

• add more API features provided by the real servo such as torque control, continuous rotation, feedbacks...

Step 5

(optionally handled at any step)

• Optionnal 3D model for a nice graphics and a more realistic geometric integration