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