Closed jc-bao closed 1 year ago
Control objective: 1rad/s for 1s and -1 rad/s for 1s.
Only control with Kd: cannot deal with object torque
Control with PI (KP=4e2,KI=2e4): performant normal in the beginning but isolated later.
Choose a smaller KI -> does not help :question:
KI*=0.3 | KI*=0.1 |
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Choose a larger KP (*=3.0)
Choose a smaller KP(x=0.3) and a smaller KI (x=0.3):
Choosing a larger KD =0.3 :arrow_forward: does not help to reduce isolation.
This problem is caused by the high-frequency isolation caused by the spring-based rope. By changing the spring coefficient to a smaller value to make sure the control frequency is higher than the rope isolation frequency, the problem is resolved.
This comes at the cost of a softer rope.
After increasing the