Transcript John report

Current Work
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PID control to direct WAM to given position
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Have made a Matlab script to calculate max
inertia on each joint, using an approximation for
the hand inertia
Script also calculates optimal gains for critical
damping
Trying to deploy this on the WAM
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Going to try and compensate for friction. Using
equations on Shilling pg. 202-203. Have been
running some experiments to estimate the 4
variables for each joint (bk, bd, bs, and eps)
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