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Current Work

Current Work. Have not yet heard back from Barrett regarding friction

colby-moon
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Current Work

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  1. Current Work • Have not yet heard back from Barrett regarding friction • Friction is interfering in another sense - since the PID outputs joint accelerations to RNE, if friction is too high we actually aren't accelerating as much as expected so RNE overshoots the centrifugal/coriolis terms on other joints • A student from WPI recommended Ziegler Nichols method • A student from Yale said she has seen similar friction curves on a different robotic arm • Working on Simulink serial communication • Got the hand initialize to go over the COM port! • Trying to figure out how to best do synchronous I/O using Simulink, Mathworks tech support is helping

  2. What's Next • Finish position/trajectory control (once I have the gains and friction compensation this should work well) • Integrate blending into the points of the trajectory so we get smooth velocity/acceleration • Incorporate UDP trajectory control for sending position commands • Test and debug Simulink model for Barrett Hand (start here while we wait for Barrett) • Coordinate the trajectory model and the hand model • Grasping Experiments

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