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Hello,
I was changing parameters of the example_py position control script for testing. What I noticed is that for the hip joint, without inputting desired output torque it does not achieve the requi…
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The functions `rad_cl_mtk` and `rad_cd_mtk` are not part of the model struct and can therefore not be changed after pre-compilation. This should be fixed as it was already done for KPS4 and KPS3. This…
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Andy had issue with my stating that the nominal joint torques explain 80% of the measured joint torques and the feedback portion of the model explained 5 to 10% more. He thought it was silly to say th…
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Hii,
We are trying out the inverse dynamics controller for the kuka using the mass matrix and velocity product obtained from the `/iiwa/iiwa_mass_server` and `/iiwa/iiwa_gravity_server` respectivel…
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I'm currently inspecting the code for the deceleration behaviour of the "CC human driver" for the ALKS deceleration scenario. I took the Reg 157 and the JAMA paper (https://www.grcc.vip/article-7247.h…
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## Rational
AFAIK acceleration limit is used for 2 things:
* To not exceed the maximum torque the machine can provide.
* To reduce resonance a.k.a. ringing
However, prusa's acceleration cont…
yshui updated
8 months ago
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3.3.4
After reading RigidBody add_torque's documentation I was at loss how to use this function. It should include information of what direction the torque is added.
Current:
> Adds a constant …
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I have a project that needs a replacement for the AX-12A servo. I would like to ask if the STS3215 has comparable accuracy in feedback and torque, and if it can replace the AX-12A. My project requires…
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Hi! Thank you to the authors for this wonderful controllers. I have been using Cartesian compliance controllers for diverse peg in hole applications and it has been very useful.
System Details.
U…
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currently keeping upright and everything is not working well.