Transcript John report

Current Work
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Have not yet heard back from Barrett
regarding friction
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Friction is interfering in another sense - since
the PID outputs joint accelerations to RNE, if
friction is too high we actually aren't
accelerating as much as expected so RNE
overshoots the centrifugal/coriolis terms on
other joints
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A student from WPI recommended Ziegler
Nichols method
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A student from Yale said she has seen similar
What's Next
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Finish position/trajectory control (once I have
the gains and friction compensation this should
work well)
Integrate blending into the points of the
trajectory so we get smooth
velocity/acceleration
Incorporate UDP trajectory control for sending
position commands
Test and debug Simulink model for Barrett Hand
(start here while we wait for Barrett)
Coordinate the trajectory model and the hand