Adding acceleration feedback for stability

[Ray offline]

Having a look of Mr.Yhshimura's latest video for stability, I try a bit using the acceleration sensor as a stability component.

The result is not so satisfactory anyway.

phpBB [media]

originally hope to make a opposition direction for inclination, but this make a lot of noise, a gain calculation or a noise immunity problem ?

But the most important thing is that the RBS58x series servo motor is seriously subject to oscillation. There is no adjustment of Pulse Strength like Kondo does
Hence, everytime it give out largest slope of gain even at the final requested position.

Mechanical damping can be used to the servos, but not efficient!

If the VS-RC003 can adopt the Kondo servo with Feekback function .....

[kif offline]

Hi ray:

this is the work autobalance Rb2000 from Anaheim :

CN1-5 (04) de la cheville PITCH + [-32700] * Van [70] * Vbn [251] [toujours activé]
CN2-5 (10) L'axe de la cheville PITCH + [32700] * Van [70] * Vbn [251] [toujours activé]


and the motion with new variable :

_MOTION_FORMAT:[ POSEDEF_V1R4 ]
_ENABLE_AXIS:[62]

_MOTION_INFO:[[]]-[70]-[10]-[6]-[6]-[3]-[-1]
_STARTMOT:

_MOTION_INFO:[[]]-[110]-[530]-[6]-[6]-[-1]-[-1]
_ENDMOT:

_MOTION_INFO:[[POSE 0]]-[110]-[460]-[6]-[6]-[1]-[1]
_POSE:[1]-[0X0000,0x2652,0X0000,0xbbe0,0x0000,0x0000,0X0000,0xd9ae,0X0000,0x4420,0x0000,0x0000,0xddf0,0x1dce,0X0000,0X0000,0X0000,0X0000,0x2210,0xe232,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0x0000,0X0000,0X0000,0X0000,0x0000,0x0080,0x0100,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0x0000,0x0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0x0000,0x0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000]-[[]]-[000000000000000000000000000000]

_MOTION_INFO:[[IF:アナログ入力ON?]]-[60]-[50]-[74]-[23]-[4]-[6]
_MIF:[4]-[250]-[1]

_MOTION_INFO:[[加減算変数をクリア]]-[266]-[319]-[6]-[6]-[2]-[-1]
_VARCON:[0]-[70]-[0]

_MOTION_INFO:[[加速度センサー値を加算]]-[80]-[370]-[6]-[6]-[2]-[-1]
_VARVAR:[1]-[70]-[130]

_MOTION_INFO:[[IF:前に倒れ過ぎ]]-[80]-[110]-[31]-[46]-[7]-[4]
_MIF:[1]-[130]-[500]

_MOTION_INFO:[[IF:後に倒れ過ぎ]]-[90]-[170]-[41]-[14]-[5]-[4]
_MIF:[2]-[130]-[-500]

[Ray offline]

Thanks, Kif

I all analyize and think about it

Cheer,

Ray.