Transcript John report

Current Work


Working on generating trajectory for moving
hand across table
–
Acquired good starting position using gravity
comp
–
Programming trajectory into Simulink model
–
Must use torques instead of position commands
–
Learned how to set velocity limits (WAM was
tripping on gravity comp even when moving arm
very slowly)
Finished preliminary Simulink model for
operating the Barrett hand
What's Next

Create Simulink model for a simple WAM
trajectory

Test and debug Simulink model for Barrett Hand

Coordinate the two models