|
|
| 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]]
| |