Autor(es): Silva, João ; Costa, Paulo Gomes da ; Gonçalves, José
Data: 2017
Identificador Persistente: http://hdl.handle.net/10198/14880
Origem: Biblioteca Digital da UPB
Projeto/bolsa: info:eu-repo/grantAgreement/FCT/5876/UID/EEA/50014/2013/PT;
Assunto(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.
