Closed pattacini closed 7 years ago
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.
This improves the controller stability, but does not solve the backlash issue, so the positioning accuracy will be poor.
With the new FW
it seems we gained quite a nice improvement in the control.
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.
cc @miggia
:kissing_heart:
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