PWM is a parameter that is used to set the program to workers in a variety of sizes, so we made an experiment for labor from the pwm input to determine the size of the force in the unit kg from the image on the left is an experiment from the pwm pwm was found to be in the range of sizes 0-20 fiction occurs between the surface touching the arm of a robot axis motor. We have made pwm input to 70 which can provide enough force to move hands. If the pwm values greater than this will not be able to control the robot and nutrient value falls, the pwm values was found to be set up to make workers in the unit kg more, as well.
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