Transcript John report

Current Work
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PID control to direct WAM to given position
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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...
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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
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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