Closed sgiraz closed 10 months ago
To guarantee back-compatibility, we need to make sure that the values of
viscousPos
andviscousNeg
must equate the values ofkbemf
1. This is true for most of the robots but NOT for those wherekbemef
<> 0.
Hi @pattacini,
Changes applied! Thanks for your feedback.
/remind December 18, merge the PR.
⏰ Reminder Monday, December 18, 2023 10:00 AM (GMT+01:00)
, merge the PR.
The modifications seem okay. Obviously, the parameters provided are not the ones that make the joints work in torque, but with those values we are confident that nothing will happen if the torque control is activated.
🔔 @pattacini
, merge the PR.
What's new:
kbemf
torque parameter in favor of the new torque control parameters:viscousPos
viscousNeg
coulombPos
coulombNeg
verlocityThres
The new friction compensation law is the following one (see also the source code):
Note:
cc @isorrentino @marcoaccame @Nicogene