How to make KHR-3HV walk straight?

KHR-1, KHR-2HV, KHR-3HV, ICS servos, RCB controllers and other Kondo products
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3 postsPage 1 of 1

How to make KHR-3HV walk straight?

Post by taylor » Fri Jan 15, 2010 11:31 am

Post by taylor
Fri Jan 15, 2010 11:31 am

Dear All,

My 3HV seems to work now but it cannot walk straight. After 2 or more steps, it started to turn left and it getting more left on each step.

Could anyone kindly tell me how to fix it?

Many thanks.
Dear All,

My 3HV seems to work now but it cannot walk straight. After 2 or more steps, it started to turn left and it getting more left on each step.

Could anyone kindly tell me how to fix it?

Many thanks.
taylor offline
Robot Builder
Robot Builder
Posts: 22
Joined: Wed Dec 30, 2009 6:09 am

Re: How to make KHR-3HV walk straight?

Post by Novice » Fri Jan 15, 2010 12:38 pm

Post by Novice
Fri Jan 15, 2010 12:38 pm

taylor wrote:Dear All,

My 3HV seems to work now but it cannot walk straight. After 2 or more steps, it started to turn left and it getting more left on each step.

Could anyone kindly tell me how to fix it?

Many thanks.

Hi Taylor.
I'm glad you could fix the problem you was talking about early :D .
Lets receipt my congratulations for you and your KHR who started to walk finally.
Regarding the questions you are asking for.
It may be 2 reasons:programming and mechanical.
Regarding the first one you should to make sure the programming data of motion files which responsible for IDs 7,8,9 (green) and 7,8,9 (yellow).The data should be equal.
The next reason may be mechanical problem.This is a problem feedback-sensors in servo:if some feedback sensor has a slippage the feedback mistake will be accumulating with the every next step and your robot will easy turn on left or right.The same effect you can get in case the mechanical connections between the servos #7,8,9 of each legs are not fixed.Make sure the connections of joints, it must be connected hardly.
I wish you success
Oleg
taylor wrote:Dear All,

My 3HV seems to work now but it cannot walk straight. After 2 or more steps, it started to turn left and it getting more left on each step.

Could anyone kindly tell me how to fix it?

Many thanks.

Hi Taylor.
I'm glad you could fix the problem you was talking about early :D .
Lets receipt my congratulations for you and your KHR who started to walk finally.
Regarding the questions you are asking for.
It may be 2 reasons:programming and mechanical.
Regarding the first one you should to make sure the programming data of motion files which responsible for IDs 7,8,9 (green) and 7,8,9 (yellow).The data should be equal.
The next reason may be mechanical problem.This is a problem feedback-sensors in servo:if some feedback sensor has a slippage the feedback mistake will be accumulating with the every next step and your robot will easy turn on left or right.The same effect you can get in case the mechanical connections between the servos #7,8,9 of each legs are not fixed.Make sure the connections of joints, it must be connected hardly.
I wish you success
Oleg
Novice offline
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Posts: 26
Joined: Wed Dec 30, 2009 1:21 pm

Post by taylor » Fri Jan 15, 2010 2:47 pm

Post by taylor
Fri Jan 15, 2010 2:47 pm

Dear Oleg,

Thank you very much for your kind assistant. I find that the problem is more serious when using save step (slow).

By the way, I'm prepare to send one the servo (red ID4) back to Kondo for repair because it was burn (one of the IC damaged).

Thanks again

Taylor
Dear Oleg,

Thank you very much for your kind assistant. I find that the problem is more serious when using save step (slow).

By the way, I'm prepare to send one the servo (red ID4) back to Kondo for repair because it was burn (one of the IC damaged).

Thanks again

Taylor
taylor offline
Robot Builder
Robot Builder
Posts: 22
Joined: Wed Dec 30, 2009 6:09 am


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