portfolio/projects/joint-servo
// Projects
Joint Servo
Self-developed robot joint servo platform integrating control, sensing, communication and engineering validation.
Overview
自研机器人关节伺服平台，用于把控制算法、嵌入式软件、编码器、通信和工程验证整合成完整系统。
Hardware
- STM32G474
- Three-phase inverter
- Dual magnetic encoders
- Current sensing
- CAN communication
Control
- Current loop
- Speed loop
- Position loop
- MIT control
- Parameter identification
- Encoder calibration