Need for reliable and fast calibration method

ABC-iRobotics / YoubotDriver

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Need for reliable and fast calibration method #2

Closed kutij closed 1 year ago

kutij commented 2 years ago

Because of the incremental encoders, the robot arm must be sent to given end limits (via velocity control). Now the current is checked and considered calibrated over a given current.

It is time-consuming and there is a chance to go to I2t.

Ideas: check if the robot does not moved in the last 0.x[s], maybe together with the current or sg like that...

The new method will need careful testing.

kutij commented 1 year ago

New calibration method is implemented, seems OK bf99e39d792e682b215eafef8ecfd0fbca6d42bc