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sensors

Every article tagged sensors, newest first.

Precise control of the SO-101 arm · Part 8 of 8October 15, 202615 min read

Overhead view of the SO-101 arm reaching over the drawing tablet.

How do I get the XYZ position of my robot's tool tip?

I get $10,000 worth of measurements from a $40 drawing tablet. Now I want the height of the pen too.

Precise control of the SO-101 arm · Part 2 of 8October 3, 202616 min read

Top: a ramp of true angles and the staircase of readings rounded to the nearest tick. Bottom: the reading error, a sawtooth between minus and plus half a tick, with an RMS of 1 over the square root of 12 tick, 0.443 mrad.

Seeing finer than the sensor

The sensor side of the joint equation: why differences of encoder ticks explode the noise, and how an observer or a Kalman filter can estimate an angle finer than one tick.

so-101 control sensors

September 26, 202617 min read

Franka arm with human-readable joint names and colored rotation arrows

How an arm moves: joints, geometry, and motor control

From encoder readings to gripper position: a visual guide to robot geometry, servos, and the commands that connect them.

control hardware sensors

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