We had to sign DOD forms to allow a 15MB control in the shop. Something about a control for nuclear subs. It is a '28' axis control.
I could see using the center of gravity with an orthogonal cartesian coordinate system. Then calculating the limb positions for each pose. Gcode - nah On Wed, Jul 16, 2025 at 11:26 AM Chris Albertson <albertson.ch...@gmail.com> wrote: > In the old days there were huge differences in how they were controlled. > But today we use microcontrollers for everything. SO there is some > convergence but still I think we can see differences in the physical motors > > 1) Stepper is just a BLDC motor is “dozens” of poles and perhaps two or > three phases. Traditionally there were controlled with square waves, But > now we we some “closed loop steppers” controlled with analog sine waves. > > 2) BLDC is typically a three-phase motor that in the past might have been > run with square wave generated by switches. But today we have Bosch more > sophisticated “FOC” controllers even if some still do use Hall effect > switches. > > 3) A three-phase motor that even in the old days was powered by > three-phase AC, Now that BLDC motors can be controlled this way too I > wonder two things (1) are they really different and (2) how were they > traditionally controlled before we had microcontrollers that could generate > waveforms in software? > > > Of the above for my interrest ig robotics the exciting kind is the BLDC > controled by FOC. These give the best power to weight and best control > over acceleration and position. If you see a humanoid robot, it is because > of these motors and the huge energy stored in lithium batteries. > > How would you like to write the “g-code” for this machine (28 axes). > https://youtu.be/I44_zbEwz_w > > > > > On Jul 16, 2025, at 4:56 AM, Stuart Stevenson <stus...@gmail.com> wrote: > > > > What is the difference between: > > > > 1: stepper/servo (Hanpose, et al) > > > > 2: BLDC servo > > > > 3: A/C servo > > > > It seems to me to be describing the same technology. > > > > Thanks > > > > Stuart Stevenson > > 4638 Farmstead Ct > > Bel Aire, Kansas 67220 > > 316 258 0953 > > stus...@gmail.com > > > > -- > > Addressee is the intended audience. > > If you are not the addressee then my consent is not given for you to read > > this email furthermore it is my wish you would close this without saving > or > > reading, and cease and desist from saving or opening my private > > correspondence. > > Thank you for honoring my wish. > > > > _______________________________________________ > > Emc-users mailing list > > Emc-users@lists.sourceforge.net > > https://lists.sourceforge.net/lists/listinfo/emc-users > > > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > -- Addressee is the intended audience. If you are not the addressee then my consent is not given for you to read this email furthermore it is my wish you would close this without saving or reading, and cease and desist from saving or opening my private correspondence. Thank you for honoring my wish. _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
