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robotology / cer

Contains SW specific to the R1 robots
GNU General Public License v2.0
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Head control #58

Closed pattacini closed 7 years ago

pattacini commented 8 years ago

As of now we cannot control the head, mainly because of mechanical low level problems. We should thus address this problem at the mechanical stage as much as possible.

This is a note for the design group.

cc @fiorisi @randaz81 @ale-git

pattacini commented 7 years ago

Update

The encoder has been accommodated on the motor side in order to reduce the impact of backlash.

@ale-git is now coding the modifications to the FW required to handle the sensor input.

randaz81 commented 7 years ago

This improves the controller stability, but does not solve the backlash issue, so the positioning accuracy will be poor.

pattacini commented 7 years ago

With the new FW it seems we gained quite a nice improvement in the control.

pattacini commented 7 years ago

Tested the gaze controller on top and it works pretty well and graceful. I think we can consider this issue solved by now.

Let's not forget to mount a second AEA at the joint level to achieve sufficient accuracy during navigation.

pattacini commented 7 years ago

cc @miggia

miggia commented 7 years ago

:kissing_heart: