Robin im glad i met you on this board here. Hopefully we can check eachothers calculations. Do you go as far as calculating the inertia ratio of the servos? Apparently from a robotics point of view (especially with systems that are used for critical applications) it is required or highly recommended. I did this with my table. I didnt know the inertia of my servo so I did some research and used an educated guess. I know the inertia ratio has to be between 3 and 5? How about tuning the servos? Do you go as far as using an oscilloscope to tune your servos? I know they are expensive and no one has one in their garage haha. I know for these home built machines using youre ears to tune your servo is probably good enoug eh? |