Repository lacks basic information about so-arm101 #19

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AtHeartEngineer · 2025-07-08T08:35:04-04:00

AtHeartEngineer commented

2025-07-08 08:35:04 -04:00

Originally created by @kaizer-nurik on 6/14/2025

Repository lacks basic information about so-arm101:

Denavit–Hartenberg parameters of manipulator;
Maximum payload weight;
Maximum angular speeds and accelerations of joints;
Maximum linear speed and acceleration of the end effector;
Radius of the workspace;
Weight of the manipulator;
Discretization frequency of the controller;
Angle sensor precision (practically);
End effector linear accuracy (in mm);
Ways of joint controls (by position with closed/open loop velocity, by angular velocities of joints, by momentum of joints, by linear velocities, etc.);
Recommended printer settings (infill pattern, infill %, recommended material, etc.);
Repeatability;

I understand, that these properties may vary from build to build because of tolerances, different voltages of servos (7.4v and 12v) different printer settings and many other various reasons, but average (or expected) values would help to understand features of this manipulator and would help builders by comparing expected values with what they have got and in result community will have more consistent results.

*Originally created by @kaizer-nurik on 6/14/2025* Repository lacks basic information about so-arm101: 1) Denavit–Hartenberg parameters of manipulator; 2) Maximum payload weight; 3) Maximum angular speeds and accelerations of joints; 4) Maximum linear speed and acceleration of the end effector; 5) Radius of the workspace; 6) Weight of the manipulator; 7) Discretization frequency of the controller; 8) Angle sensor precision (practically); 9) End effector linear accuracy (in mm); 10) Ways of joint controls (by position with closed/open loop velocity, by angular velocities of joints, by momentum of joints, by linear velocities, etc.); 11) Recommended printer settings (infill pattern, infill %, recommended material, etc.); 12) Repeatability; I understand, that these properties may vary from build to build because of tolerances, different voltages of servos (7.4v and 12v) different printer settings and many other various reasons, but average (or expected) values would help to understand features of this manipulator and would help builders by comparing expected values with what they have got and in result community will have more consistent results.

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Reference: github/SO-ARM100#19