Transcript John report

Current Work


Debugged the gravity compensation
–
Turned out that the transmission ratios and
bit masking were correct
–
Had to set an initialization parameter for the
max torque (was set too low)
–
Gravity compensation is now working with
the hand both on and off
Need to begin looking into trajectory following or
hand operation
What's Next


Work on a Simulink model to operate the
Barrett hand and experiment with Interaction
Capture database
Begin working on a higher-level model on a for
setting tool-tip position/orientation/trajectory
–
UNM is working on one now as well but they
don't have it posted online yet