As a follow-up to https://github.com/roboticslab-uc3m/yarp-devices/issues/262, I'd like to add another PID controller between the newly added position PID and the embedded current controller. The goal here is to achieve a stiff behavior, since a position-to-torque loop essentially makes it behave like a torsion spring (following the Hooke's law). The embedded implementation (inside the iPOS firmware) is, in fact, a cascaded 3-level PID (position-velocity-current).
As a follow-up to https://github.com/roboticslab-uc3m/yarp-devices/issues/262, I'd like to add another PID controller between the newly added position PID and the embedded current controller. The goal here is to achieve a stiff behavior, since a position-to-torque loop essentially makes it behave like a torsion spring (following the Hooke's law). The embedded implementation (inside the iPOS firmware) is, in fact, a cascaded 3-level PID (position-velocity-current).
See also: