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Current Work

Current Work. PID control to direct WAM to given position I am now calculating desired qdd (instead of torques) in PID and sending that to Newton Euler's qdd port

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Current Work

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  1. Current Work • PID control to direct WAM to given position • I am now calculating desired qdd (instead of torques) in PID and sending that to Newton Euler's qdd port • Is working somewhat strangely (especially for joint 3) – very high gains for joint 3 give relatively low torques after Newton Euler. PID gives the proper output though. Leads me to believe there is an error in my NE function... will try and debug... • Side thought - should I be setting gains individually for each joint OR one gain for each of Kp, Kd, Ki which is applied to all joints? In other words, should I have 3 separate gains or 3*4=12 separate gains? Is the best way to find optimal gains guess and check? Has been somewhat tedious. If I should use simulation, can you point me in the right direction of what dynamics equations to use?

  2. What's Next • Finish position control • Create Simulink model for a simple WAM trajectory • Test and debug Simulink model for Barrett Hand • Coordinate the trajectory model and the hand model

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