Developer open-sources ~$20 dual-encoder closed-loop stepper driver
What happened
A developer (Reddit user /u/ganacbicnio) designed and open-sourced a closed-loop stepper driver for their 3D-printed robotic arm, using dual encoders to measure motor position and the actual joint position after the reducer respectively, so as to compensate for reducer backlash in software rather than relying on high-precision reducers. The driver is based on the ESP32-S3 and TMC2209; the author says they hope to keep the cost at about $20, and the code is already on GitHub. The author also asks whether anyone has made similar attempts, and how to handle backlash compensation without destabilizing the control loop, indicating that the actual performance of this approach has not yet been verified.
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- Reddit r/roboticsAuthor open-sources ~$20 dual-encoder closed-loop stepper driver that compensates for gearbox backlash in software
A developer designed an open-source closed-loop stepper driver for their 3D-printed robotic arm. It uses dual encoders to separately measure motor position and the actual joint position after the reducer, compensating for backlash in software rather than relying on a high-precision reducer. The driver is based on the ESP32-S3 and TMC2209, and the author aims to keep the cost at about $20. The code is already on GitHub. The author also asks whether anyone has made similar attempts and how to handle backlash compensation without destabilizing the control loop.
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