Transcript John report

Current Work



Rewrote the gravity compensation model with
Newton-Euler method
Compared the results of my simulation to some
data points given by Barrett
–
For a specific joint position, compare the torque
calculated on the joints for my model and
Barrett's working model
–
Seems to be consistent now
Still having some trouble getting the arm to
output these torques properly
–
May be an issue with transmission ratios or bit
What's Next

Continue to debug the gravity compensation
model and get it working
–


Hopefully within the week
Take pictures for Jeff's paper
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