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NMMI / qbmove-simulink

Simulink libraries for qbmove device and customizations
BSD 3-Clause "New" or "Revised" License
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qbmove controller position and stiffness #2

Open Mohammed20PHD opened 5 years ago

Mohammed20PHD commented 5 years ago

Dear Colleagues Kindly, do you have an idea if I can use a controller Simulink to control qbmove like PID controller or any controller suggest and If I want to control the position and stiffness together is that possible with Simulink?

Best Regards

mattiapoggiani commented 5 years ago

Yes both are possible. Abput the control of position and stiffness together, you can use the qbmove block with Equilibrium and Stiffness setting. The first reference will be the position reference while the second will be the stiffness from 0 to 1. Best

Mohammed20PHD commented 5 years ago

Can you help me with more details an example ?? What do you mean exactly? Thank you very much

Mohammed20PHD commented 5 years ago

any update?

mattiapoggiani commented 5 years ago

Hi, there is already an example for this kind of control. Please check the qbmove_example.slx Simulink file first. Feel free to write me if there is something you don't understand. Best

Mohammed20PHD commented 5 years ago

Hi, I want to ask, Is it possible to design PID controller with Simulink for Torque Control and Position control. And how can I apply the trajectory tracking for a position? Best Regards

mattiapoggiani commented 5 years ago

Hi, you can do both through Simulink. I don't know what is your confidence with this tool, but, since the qbmove block receives input at every simulation cycle, you can implement whatever external control loop that generate a proper reference to be given as input to the QB block. The same thing for the trajectory tracking.