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fyun123 / MIT_Cheetah

MIT Mini Cheetah 电机控制固件
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Have you found the bug that this actuator can not do postion control? #1

Open wei1224hf opened 3 years ago

wei1224hf commented 3 years ago

For example , I send a postion command to move to 100, then the motor will move to 98 , then stop.

to make the motor to move to 100 , I have to read the position all the time, send 100, 101, 102, 103, 104.... and so on until I read the feedback that the postion is at 100

fyun123 commented 3 years ago

For example , I send a postion command to move to 100, then the motor will move to 98 , then stop.

to make the motor to move to 100 , I have to read the position all the time, send 100, 101, 102, 103, 104.... and so on until I read the feedback that the postion is at 100

Do you set a large Kp?The greater the Kp value is, the greater the stiffness is, which means that the position is closer to the reference position

wei1224hf commented 3 years ago

For example , I send a postion command to move to 100, then the motor will move to 98 , then stop. to make the motor to move to 100 , I have to read the position all the time, send 100, 101, 102, 103, 104.... and so on until I read the feedback that the postion is at 100

Do you set a large Kp?The greater the Kp value is, the greater the stiffness is, which means that the position is closer to the reference position

The Kp is importent to torque, If I want to use high torque , I must use big Kp. Is there any method to make the motor go with high torque but with 0 stiffness?

fyun123 commented 3 years ago

You can try adding feedforward torque.

For example , I send a postion command to move to 100, then the motor will move to 98 , then stop. to make the motor to move to 100 , I have to read the position all the time, send 100, 101, 102, 103, 104.... and so on until I read the feedback that the postion is at 100

Do you set a large Kp?The greater the Kp value is, the greater the stiffness is, which means that the position is closer to the reference position

The Kp is importent to torque, If I want to use high torque , I must use big Kp. Is there any method to make the motor go with high torque but with 0 stiffness?

You can try adding feedforward torque.