Mircea Cormos took care of the motors and sensors that would be used on the robot arm. There are 3 different motors, one for the base, one for the shoulder, and one for the elbow. The Base motor is a Clifton Precision Products Servo Motor with Double Shaft. It is rated at 24VDC, 2200 RPM at no load and a peak torque of 350 oz-in. The current at peak torque is rated at 24 Amps. The Shoulder motor is a PM motor with optical incremental encoder. It is rated at 18 VDC, 3000 RPM at no load and a peak current of 51 Amps. The Elbow motor is a Canon geared DC motor with ratings of 24 VDC and 86 RPM at no load.
One of the sensors is a tachometer. It has an output of 6.5 Volts/1000 RPM. The A/D on the chip has a limit of 5 VDC. But the motor is never expected to reach a very high RPM and hence the input to the A/D would be well within the limit. The other sensors are optical encoders, which have an input rating of 5VDC and 60 mA, and the output varies within this range, which is also perfect for our purpose.
The D/A's give out an output swing of +/-10V, and the current rating is only 2mA. So the motors need power amplifiers that will transfer this voltage to the motors and withstand the current requirements of the motors. But right now, the setup has 3 PIDs which get the output voltage from the D/As and amplifies them before feeding them to the motors.