Transcript John report

Current Work
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Trying to estimate friction on joints
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Set up FAT32 partition on XPC target machine
so I can capture data
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Got some great data for joint 4, but the friction
seems to depend on position more than velocity
which seems strange to me. Going to try and
estimate this with an average value possibly.
Using a moving average for velocity and
acceleration curves now
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This is working well
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Going to try and boost sampling rate as high as
I can go. Average TET is 0.0006 sec, so we
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
Coordinate the trajectory model and the hand
model