digital servo won't seek to angle if delta between current position and target is more than ~15 degrees

Robotics Asked by Gever Tulley on January 6, 2022

My students and I are using a Hiwonder LD-220MG digital servo to position a "shoulder" on a robot. robot bulldozer on workbench

We are seeing a behavior (on every one of these servos that we test) that it won’t go between arbitrary angle values. If the angle we want to go to is too far from where the servo is currently positioned, then it either ignores the new target value, or very slowly creeps to it if it’s not "too far". If the target angle is "close", say within 15 degrees, the servo will correctly and quickly move to the target angle.

So far, we’ve looked at voltage (right at the top of the spec for the servo), signal quality (nice solid 50Hz square wave coming from a PCA9685 16-Channel 12-Bit PWM Servo Driver), and software (used a hobby R/C tester).

Any and all suggestions appreciated.

One Answer

Gever, do you have any clue on what type of feedback control you are using? This is usually a PID kind of controller (at least as far as I know). It could be that the once you give a large target position, the controller values get too high, causing an error to your servo. Adjusting the values of the PID (or any kind of) controller parameters would maybe help.

Answered by Jelle on January 6, 2022

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