Author(s): Silva, João ; Costa, Paulo Gomes da ; Gonçalves, José
Date: 2017
Persistent ID: http://hdl.handle.net/10198/14880
Origin: Biblioteca Digital da UPB
Project/scholarship: info:eu-repo/grantAgreement/FCT/5876/UID/EEA/50014/2013/PT;
Subject(s): Robotics; Education; Modified servo motor; Prototyping
This paper describes the development of SMORA (Servo Motor Optimised for Robotic Applications), which consists of custom hardware and firmware that includes a microcontroller and a series of sensors, allowing for the motor current, temperature and voltage to be measured in real-time as well as precise position feedback thanks to the integrated hall-effect magnetic position encoder. It also incorporates an accelerometer and a gyroscope to measure the servo body relative position and rotation.
