![]() In this way, I reduced the number of degrees of freedom of the arm from 6 to 5. I replaced the SG90 servo motors with only one servo motor with metallic gearbox and claws. Because I need something different for my project, I cannot use the default configuration of the arm. I used this robot arm to build a robot waiter able to grab and handle a small plastic cup. Only two axes use the SG90 servo to move the end effector. From all of the 6 axes of the arm, four of them are actuated by the MG996R. The MG996R servo is the main servo motor used to move the SainSmart 6-axis robot arm. I want to describe you in details the solutions tried to control the servos, as well as the solution to smoothly control many hobby servos like MG996R while applying torque – in my case, the servo actuates a robotic arm. That is how I came to write this tutorial. If it is not controlled in the right way, the servos vibrate, make noise and rotate randomly. The servo changes its behavior under applying torque. But no matter how much was written on forums and blogs about how to control hobby servo motors like MG996R, almost all these tutorials provide information to control it while working freely, without applying torque. I know how hard is to produce great work and then put it out into the world. In addition, I write a section at the end of the article where I describe how I fix several MG996R servos and a conclusion.īefore going into the details, I want to tell you something. After reading this article, you should be able to control your hobby servos without noise or vibration. ![]() I use PWM software and hardware resources because this is the right way to control one or more servo motors. In this tutorial, I provide enough level of depth to be informed about how to control servo motors with Arduino.
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