Control Plugin - Githubissues

hsp-iit / gazebo-yarp-digit-plugin

A tentative C++ wrapper for the Python based Digit tactile sensor simulation

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Closed gabrielecaddeo closed 3 years ago

gabrielecaddeo commented 3 years ago

Control the sinusoidal movement of the sensor in the 3 axis with 3 PID controller (eventually just PD). Issues to solve:

The PID controller in the x axis is not fine tuned, since the forces are not monotone (considering separately approaching/stepping away).