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actpackplan [2019/05/06 18:03]
kandoni Fix spelling
actpackplan [2019/10/02 15:31] (current)
jfduval [Resources]
Line 72: Line 72:
  
 {{ ::​posctrl.gif |}} {{ ::​posctrl.gif |}}
 +
 +=== Impedance Controller: setup & basic test ===
 +
 +Setting up the controller and the gains:
 +
 +//Note: This is valid for all GUI released before October 2019.//
 +
 +  - Open up the Control Window (Tools->​Control Loop)
 +  - Select ActPack in the "​Commands:"​ dropdown
 +  - Select "​Current"​ in the "​Controller"​ dropdown
 +  - Set Proportional (kp) and Integral (ki) gains. kp = 100 and ki = 32 are good starting points.
 +  - Click "Set Gains"
 +  - Select "​Impedance"​ in the "​Controller:"​ dropdown
 +  - Click "Set Controller"​
 +  - Set K and B as desired. As a starting point K = 200 and B = 0 will give you a weak spring. ​
 +  - Click "Set Gains."​ You can test the weak spring by manually moving the motor.
 +  - You can continue to change and set the impedance gains as you wish.
 +
 +{{ ::​zCtrlSetup.gif |}}
 +
 +Demo: this demo was recorded right after the setup shown above. We use K = 325 and we change B from 0 to 1500 to demonstrate the effect of damping.
 +
 +{{ ::​zctrlDemo.gif |}}
  
 ===== Resources ===== ===== Resources =====
  
   * [[controlgains|Control Gains]]   * [[controlgains|Control Gains]]
-  * [[commandsandoffsets|Commands and Offsets]] +  * [[demodescriptions|Demo Scripts]]
-  * [[actpackpython|Actuator Package: Python scripts]]+
   * [[units|Units,​ References & Conversion Formulas]]   * [[units|Units,​ References & Conversion Formulas]]
  
  
actpackplan.1557165805.txt.gz · Last modified: 2019/05/06 18:03 by kandoni