We are working to bring the Arbite Joint Control System to life.
This system will enable users to rapidly construct high performance robotic joint controllers of varying structures, from simple position controlled systems to complex variable stiffness Series Elastic (VSA) systems, through to differential drive robots and anything in between. We are building compact and easily connectable electronic modules coupled with fast real time software.
The joint controller module forms a core piece of electronic hardware within the Arbite JCS system. This device serves as a communications hub for lower tier networked devices, while providing capability for executing joint space controllers and estimators.
Brushless motor controllers ranging in power capability from 200W to 8kW and maximum bus voltages from 48V to 72V. Supports both Arbite encoders and off the shelf encoders.
Linear and angular incremental and absolute encoders based on magnetic sensing technology. Linear resolutions of up 488nm per step. Angular resolutions dependent on the magnetic strip radius.
Two independent controller outputs. Each output supports voltage or current control or direct PWM control. Maximum 1A per channel with a maximum bus voltage up to 72V.
Selectable voltage hysteresis mode or PWM mode for braking operation. Multiple devices can function in parallel to increase maximum power capability. Supports bus voltages up to 72V.
Eight channel analogue interface and six channel strain gauge amplifiers. Strain gauge amplifier supports temperature compensation.
Thermal manager with eight fan or pump outputs and eight analogue inputs. Each output has independent PID control. Supports standard computer fans and pumps. (Prototype device shown)
Unifying real time software ties the Joint Control System together and is responsible for device configuration, management and data handling. jcs_host is available soon for Linux as a C++ library.
We have more hardware in the pipeline; linear actuators, generic encoder interface, DC/DC converters and battery managers, plus more. Please contact Arbite to find out more.