Transcript John report

Current Work
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Have a good grasp on the workings of the UNM
model
Converting the WAM model to 4 DOF in Matlab
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Model is now 4 DOF, not 7
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Model now reads joint positions (had to change
a data variable for our WAM)
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Model can set torque on any joint
Gravity compensation seems to work except for
joint 4, having some trouble resolving this
What's Next
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Complete the gravity compensation model
Begin working on a higher-level model on a for
setting tool-tip position and orientation
–
UNM is working on one now as well but they
don't have it posted online yet