Transcript Chris report

Current Works Overview
• Realtime Data Acquisition from Camera System
– Direct to MatLAB(More on slide 2)
– Streaming using NATNet
• Tracking Tools Axis Problem
• Worked on WAM Hand – realized our hand does not have
strain gauges
• Updated shuttle with latest code
• Performed tests with John using constant torque to
monitor effect of friction on velocity
• Confirmed WAM motor is exerting specified torque
• Met with Professor John Wen regarding implementing a
State Feedback controller
• Began testing with John to compute PID gains and gravity
compensation
Motion Camera System Progress
• Real-time Data Acquisition from Camera System
– Wrote a MATLAB script to pull data directly into structs within MATLAB
• Current Limitations: currently only runs up to 75 FPS, doesn’t give
corresponding marker locations with Trackable object (need to calculate
estimated marker locations as well as actual marker locations for each object)
• Left vs Right Handed axis – seems to be a bug in Tracking Tools where exported
data and translation option default to a left handed system
– John emailed Optitrack and we are awaiting a reply
– Streaming using NATNet (streams UDP packets from Tracking Tools to
MATLAB)
• Hopefully we will be able to record data at 100 FPS
• Currently working on an implementation in MATLAB but ran into problems
with .NET function calls
– Called MATLAB tech support and got a reply back today- said it is a known bug in the
release I was using and recommended updating MATLAB
WAM Progress
• Ran test with constant torque on joint 1 and monitored velocity
with respect to position
– Found that velocity plot did not show constant acceleration due to
friction (velocity actually decelerated at some positions)
• Used scale to measure torque being applied by joint 1
– Torque being applied is as expected (the specified torque)
• Met with Professor John When
– Recommended first implementing a PD controller for each joint, then
implement gravity compensation, then implement friction
compensation
– Position dependent friction will be accounted for using integral control
(but should be relatively low)
– Need to verify velocity measurement is accurate
• Performed tests to determine PD gains with John
Whats next?
• Continue assisting John as needed
– Implement an accurate control system for WAM
– Perform grasping experiments
• Continue Implementation of real time
collection of data in MATLAB
• Review grasping notes/complete assignments