After happening across 4 giant 1 ton ABB robots, we decided to reverse-engineer them to figure out how they work, and how they can be reprogrammed. This involves the solving of generalized servo-loop problems and creating new hardware for them so they can move again.
The robots used to live a dreary life, grinding toilets, and were decommissioned. We rescued four of them and managed to pull of their arms and start looking at their insides. Horrible sounding, but a fun job that's going to be more fun once they start working!
Right now, we've got the motor turning via potentiometer. When the potentiometer turns, the motor turns.
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