Transcript John report
Current Work
PID control to direct WAM to given position
–
I am now calculating desired qdd (instead of
torques) in PID and sending that to Newton
Euler's qdd port
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Is working somewhat strangely (especially for
joint 3) – very high gains for joint 3 give
relatively low torques after Newton Euler. PID
gives the proper output though. Leads me to
believe there is an error in my NE function... will
try and debug...
–
Side thought - should I be setting gains
individually for each joint OR one gain for each
of Kp, Kd, Ki which is applied to all joints? In
What's Next
Finish position control
Create Simulink model for a simple WAM
trajectory
Test and debug Simulink model for Barrett Hand
Coordinate the trajectory model and the hand
model