search

roboticslab-uc3m / kinematics-dynamics

Kinematics and dynamics solvers and controllers.
https://robots.uc3m.es/kinematics-dynamics/
GNU Lesser General Public License v2.1
19 stars 12 forks source link

Enforce acceleration/torque/current limits in torque-controlled commands #160

Closed PeterBowman closed 2 years ago

PeterBowman commented 6 years ago

Some CMC-controlled commands (i.e. movl and movv) make sure that the resulting velocity (obtained via solver methods) does not exceed certain limits. For instance:

https://github.com/roboticslab-uc3m/kinematics-dynamics/blob/c187abdc0c9b2284d36df0f22cf64ecb238642b2/libraries/YarpPlugins/BasicCartesianControl/RateThreadImpl.cpp#L187-L195

Is it feasible to limit the resulting torque in the gcmp and forc commands? How to obtain that in the first place? See https://github.com/roboticslab-uc3m/yarp-devices/issues/187#issuecomment-406342280.

PeterBowman commented 6 years ago

I wonder if the benefits of enforcing such a constraint are worth the effort to develop the full backend. Low accelerations/torques/currents values may still produce significant velocities.

Edit: see https://github.com/roboticslab-uc3m/kinematics-dynamics/issues/161.

PeterBowman commented 2 years ago

I think the I2t driver protection is the way to go, also a firmware protection is far more reliable than any upstream slow-loop check.