These links may help you

https://www.researchgate.net/publication/284020018_Control_of_IIT_Kharagpur_Humanoid_using_Robotic_operating_system

http://archives.njit.edu/vol01/etd/2010s/2016/njit-etd2016-020/njit-etd2016-020.pdf

https://upcommons.upc.edu/.../Master_Thesis_Dimitris_Zervas.pdf

Dear all,

I am using Dynamixel Workbench  and trying to read present voltage and current value. But I am unable to get these readings. whereas now I can read Position and speed from MX-106T.

Hardware Used-

OpenCM 9.04 with Expan 485 board.

code to read-

Voltage = dxl_wb.itemRead(DXL_ID1, "Present_Voltage");

Kindly give your feedback.

Thank you

I am currently using three Dynamixel MX-106T servo motor in a mobile manipulator and OpenCM 9.04 with Expan 485 board control Hardware.

I want to decide payload based on  the evaluation of corresponding joint servo torque to avoid servo failure.

My problem will be solved if I am able to read joint torque from these servos.  I can read Position and speed from MX-106T.

I am using Dynamxel Workbench and Arduino software to control the servos and the servos are configured for Protocol 1 .

kindly give your feedback.

thanks & regards

I am using Dynamxel Workbench and Arduino software to control the servos and the servos are configured for Protocol 2 .

I have tried dxl_wb.itemRead(id, "Present_Load") commend to read the torque, but I am still getting Zero at the output. 

I am now including my code for reference...

void loop()

{

  int32_t present_position =0, Present_load;

  int32_t present_position_off =0;

 int32_t present_speed =0, moving_speed =0;

  dxl_wb.goalSpeed(DXL_ID1, 300);

  present_position = dxl_wb.itemRead(DXL_ID1, "Present_Position");

  present_speed = dxl_wb.itemRead(DXL_ID1, "Present_Speed");

  Present_load = dxl_wb.itemRead(DXL_ID1, "Present_Load");

  Serial.println("present_position");

  Serial.println(present_position);

  Serial.println("present_speed");

  Serial.println(present_speed);

  Serial.println("Present_load");

  Serial.println(Present_load);

  delay(100);

}

kindly suggest corrections to this coding...

thanking you