Evaluation of motion stability of the end of the robotic arm (with linux real-time waveform client source code attached)

Common robotic arm controls are developed from CNC, emphasizing constant speed and stability in the motion process. Many controllers use hybrid PID for speed control, which generates great acceleration during the startup phase in order to quickly reach the set speed. Due to the solid state of the solid itself Stiffness, this drastic speed change is very effective for CNC machining scenarios or general solid handling scenarios. However, it will have a huge impact in liquid handling scenarios, so new control methods need to be proposed. This control method must have high requirements on acceleration. In order to quantify this acceleration performance, a device for testing the stability of the end motion of the robotic arm is required.
The desktop manipulator used to verify the algorithm is a small manipulator, so the end acceleration measurement device must be lightweight and small. In addition, in order to avoid the influence of cables on movement, the measurement device must have an independent power supply system and transmit data wirelessly. SensorTile.box perfectly meets this requirement. You only need to upload the read data to the host computer to analyze the data, including drawing real-time waveforms, maximum value analysis, etc.

Complete design description: http://bbs.eeworld.com.cn/thread-1130941-1-1.html