Transcript John report

Current Work
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Trying to estimate friction on joints
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Sent email to Barrett, got to talk to Bill
Townsend on the phone (very nice guy). He
said they are going to try and replicate my data
on their end
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WAM might need maintenance or repair – Bill
said he would expect friction numbers closer to
~0.8 Nm
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He also mentioned the friction on joint 3 should
be higher than the rest, as we noticed
Boosted the sampling rate up to 1000 Hz
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The average TET went up by boosting the
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
Possibly write a program sending position
commands over UDP
Test and debug Simulink model for Barrett Hand
(start here while we wait for Barrett)
Coordinate the trajectory model and the hand