PID Gains (Position & Velocity)

ADVRHumanoids / iit-coman-ros-pkg

Repository for the compliant humanoid robot COMAN from the Italian Institute of Technology.

BSD 3-Clause "New" or "Revised" License

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PID Gains (Position & Velocity) #18

Open EnricoMingo opened 10 years ago

EnricoMingo commented 10 years ago

If some one is going to use the simulator for position or velocity control can also tune a little bit The PIDs???

traversaro commented 10 years ago

If someone has experience with Matlab/Simulink PID autotuning we soon will have a yarp/matlab-simuling interface, and using that it will be possible to automatic tune the PID for a joint in a given configuration (not optimal, but better than random values).

traversaro commented 10 years ago

Just to update the situation on the iCub side: @francesco-romano has wrote a program to convert PID gains on the real robot (so expressed with a PWM output) to Gazebo-style torque output gains considering the data sheet characteristics of the motors. If you are interested you can get in touch, the preliminary code is here: http://sourceforge.net/p/robotcub/code/HEAD/tree/trunk/iCub/contrib/src/icub2gazeboPIDconverters/

EnricoMingo commented 10 years ago

Position PID are more or less tuned. Still needs to try the velocity ctrl.