Two joints: a two jointed system is extremely hard to model in 3D space. We would have to take a page out of SwerveOdometry's book and make a LQR to calculate the arm's pose. I know you guys are probably tired of hearing that method of calculation but really we can't use PID. PID is meant for SISO systems, and two joint requires inverse kinematics on an LQR to calculate a MIMO system.
One joint, one hydraulic: hydraulic arm raises and lowers an arm that is also telescoping
Going for an elevator is on the simpler side. It can represented as an xy plane, but normal convention actially would dictate that it is a xz plane. Two motors would translate a singular inner plate that would then travel along the x (side to side) and z (up and down) directons. Then, the third freedom would come in the form of y, which would be a telescoping arm that would extend out into space.
davidmuchow
commented
1 year ago
Arm control can be one of many things: