Transcript John report

Current Work
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PID control to direct WAM to given position
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Emailed Barrett to have them verify the
numbers I have for link inertias – I am skeptical
since I found multiple files with conflicting
numbers – they will get back to me soon
Working on calculating gains for PID control
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Made a simulation which automatically
calculates ideal Kp and Kd given Kp1 and max
inertias
The problem is I do not know how to calculate
the maximum inertia resisting each joint (will
email you more details)
What's Next
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Finish position/trajectory control (once I have
the gains 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