PID Configuration - Revision history

Giovanni Saponaro: clean up obsolete Vizzy information

2016-07-22T14:04:47Z

clean up obsolete Vizzy information

← Older revision		Revision as of 14:04, 22 July 2016
Line 1:		Line 1:
	~~==Config files==~~
	~~The PID configuration files can be found in /iCub/app/iCubLisboa01/conf~~
	~~In the vizzy.ini file it is possible to check which ini files with the configuration of the PIDs are being used.~~

	~~==Current PID configuration==~~
	~~The PID configuration still needs to be finished and reviewed. The current values of the configuration have been found through trial and error method.~~

	* The current configuration of the left arm elbow joint
	~~Pid1 950 0 2 9000 9000 13 0 //Left Elbow Flection~~

	~~The 950 value indicates the P value. This value was defined having into account the stiffness of the motor and how close it could reach the desired angle.~~
	~~The 0 value indicates the D value. This value was left as 0 because adding it made little diference in the final result.~~
	~~The 2 value indicates the I value. This value was chosen so that the arm would reach an angle close to the desired one and avoiding that it would oscillate too much.~~

	~~For the remaning joints the controller works reasonably, but the values are not set accordingly to each motor.~~

	~~==Notes (03/Feb/2012)==~~
	~~Both wrist flection PIDs are not well defined.~~
	~~The forearm pronation and writst flection values are untested.~~


	~~[[Vizzy\|<< Back to Vizzy wiki homepage]]~~

	~~[[Category:Robots]]~~
	~~[[Category:Vislab]]~~

Daragao at 16:21, 3 February 2012

2012-02-03T16:21:31Z

← Older revision		Revision as of 16:21, 3 February 2012
Line 18:		Line 18:
	Both wrist flection PIDs are not well defined.		Both wrist flection PIDs are not well defined.
	The forearm pronation and writst flection values are untested.		The forearm pronation and writst flection values are untested.


			[[Vizzy\|<< Back to Vizzy wiki homepage]]

			[[Category:Robots]]
			[[Category:Vislab]]

Daragao at 16:19, 3 February 2012

2012-02-03T16:19:50Z

← Older revision		Revision as of 16:19, 3 February 2012
Line 14:		Line 14:

	For the remaning joints the controller works reasonably, but the values are not set accordingly to each motor.		For the remaning joints the controller works reasonably, but the values are not set accordingly to each motor.

			==Notes (03/Feb/2012)==
			Both wrist flection PIDs are not well defined.
			The forearm pronation and writst flection values are untested.

Daragao at 12:32, 4 November 2011

2011-11-04T12:32:43Z

← Older revision		Revision as of 12:32, 4 November 2011
Line 12:		Line 12:
	The 0 value indicates the D value. This value was left as 0 because adding it made little diference in the final result.		The 0 value indicates the D value. This value was left as 0 because adding it made little diference in the final result.
	The 2 value indicates the I value. This value was chosen so that the arm would reach an angle close to the desired one and avoiding that it would oscillate too much.		The 2 value indicates the I value. This value was chosen so that the arm would reach an angle close to the desired one and avoiding that it would oscillate too much.

			For the remaning joints the controller works reasonably, but the values are not set accordingly to each motor.

Daragao: Created page with "==Config files== The PID configuration files can be found in /iCub/app/iCubLisboa01/conf In the vizzy.ini file it is possible to check which ini files with the configuration of t..."

2011-11-04T12:29:24Z

Created page with "==Config files== The PID configuration files can be found in /iCub/app/iCubLisboa01/conf In the vizzy.ini file it is possible to check which ini files with the configuration of t..."

New page

==Config files==
The PID configuration files can be found in /iCub/app/iCubLisboa01/conf
In the vizzy.ini file it is possible to check which ini files with the configuration of the PIDs are being used.

==Current PID configuration==
The PID configuration still needs to be finished and reviewed. The current values of the configuration have been found through trial and error method.

* The current configuration of the left arm elbow joint
Pid1 950 0 2 9000 9000 13 0 //Left Elbow Flection

The 950 value indicates the P value. This value was defined having into account the stiffness of the motor and how close it could reach the desired angle.
The 0 value indicates the D value. This value was left as 0 because adding it made little diference in the final result.
The 2 value indicates the I value. This value was chosen so that the arm would reach an angle close to the desired one and avoiding that it would oscillate too much.