Robot Arm and Controller

www.frtech.fr/

www.frtech.fr/Robotcontrolsystem

I heard that this controller runs on Linux. I only saw the web based interface to the controller so I did not reach a command line to be able to check. The robot arm is very jittery through some motions. I read on some other forum that the way they fixed it was to replace the motors and drives and run it with LinuxCNC. I can easily do this but I am wondering if anyone else here has worked with these robots or controllers before and what their experiences were. Does this actually run Linux?
 

The specs they list for that mini control box makes me think it is a servomotor amplifier. I see ratings of 48VDC 42A max and 48VDC 104A max on several models of the control box shown at your second link.

Interesting possibilities.

It's a collaborative arm. I haven't seen an earlier LCNC project that uses the dual encoder joints used in collaborative arms.

They typically use Cycloidal drives with encoders on both the input and output to measure the strain. The difference between the two encoders gives you the strain. This sounds like I need to develop a new HAL component.

For example:
www.celeramotion.com/mechatronics-soluti...ollaborative-robots/

This reminds me of how a lot of industrial CNC machines add a linear scale encoder feedback for increased accuracy. Technically, on such a machine the servomotor feedback encoder equates to your input encoder, and the linear scale is what you call the output encoder.

The idea of measuring torque by measuring the difference between the two encoders sounds really neat, never before heard of that.