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ergoCub 1.1 S/N:001 – Right hip pitch joint jumped loosing the calibration #1732

Closed isorrentino closed 4 months ago

isorrentino commented 5 months ago

Robot Name 🤖

ergoCub 1.1 S/N:001

Request/Failure description

While having the robot on the ground one of the joints of the right hip pitch encoder had a jump, moving to a new position. After this jump, the same encoder values for the two legs, result in a different physical configuration.

Plot here:

image

Detailed context

Photos here:

MicrosoftTeams-image MicrosoftTeams-image(2) MicrosoftTeams-image(1) MicrosoftTeams-image(3)

cc @DanielePucci @maggia80 @GiulioRomualdi

Additional context

No response

How does it affect you?

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DanielePucci commented 5 months ago

We hoped that the jump was due to the AMO, but actually @isorrentino checked and we already using the LCORE. So, it seems that the problems are due to the LCORE measurements. Then, with @GiulioRomualdi, we re-enabled the AMO and we tested the walking that started vibrating much more.

Clearly, if there is a problem in the LCORE, the field oriented control is going to be problematic.

@isorrentino suggested that the LCORE might be dirty: could this be the case @sgiraz @AntonioConsilvio @Fabrizio69 ?

sgiraz commented 5 months ago

Clearly, if there is a problem in the LCORE, the field oriented control is going to be problematic.

@ale-git, @valegagge Do you have any tips on this?

In the meantime, we evaluate if it is necessary to unmount and clean/replace the LCORE.

cc @AntonioConsilvio

sgiraz commented 5 months ago

@ale-git, @AntonioConsilvio and I discussed F2F about the LCORE problem.

It is possible to decrease the tolerance in https://github.com/robotology/robots-configuration/blob/08f2a6ecc3c9d4cc2dad6b4524775b9f8f97e9a2/ergoCubSN001/hardware/motorControl/right_leg-eb6-j0_3-mc_service.xml#L51 to 2.1 (the minimum value) to see if a "dirty encoder" warning is detected.

We'll give it a try asap.

AntonioConsilvio commented 5 months ago

Hi! The AMO cable has been fixed in this issue:

It could be that the problem described in this issue was caused by abnormal behaviour of the AMO. So, I would ask for feedback if the problem has happened again.

Thank you!

cc @isorrentino @GiulioRomualdi

AntonioConsilvio commented 4 months ago

Since the robot completed the Farnesina's Demo successfully, without showing this problem anymore, I think that we can close this issue!

cc @isorrentino