RoboSavvy Forum Robosavvy Forum: The largest online community of Humanoid Robot Builders 2009-11-29T15:43:28+01:00 http://forum.robosavvy.com/feed.php?f=7&t=4741 2009-11-29T15:43:28+01:00 2009-11-29T15:43:28+01:00 http://forum.robosavvy.com/viewtopic.php?t=4741&p=23309#p23309 <![CDATA[Adding acceleration feedback for stability]]>
I all analyize and think about it :wink:

Cheer,

Ray.

Statistics: Posted by Ray — Sun Nov 29, 2009 3:43 pm

]]> 2009-11-29T12:05:23+01:00 2009-11-29T12:05:23+01:00 http://forum.robosavvy.com/viewtopic.php?t=4741&p=23301#p23301 <![CDATA[Adding acceleration feedback for stability]]>
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]

Statistics: Posted by kif — Sun Nov 29, 2009 12:05 pm

]]> 2009-11-29T05:51:12+01:00 2009-11-29T05:51:12+01:00 http://forum.robosavvy.com/viewtopic.php?t=4741&p=23299#p23299 <![CDATA[Adding acceleration feedback for stability]]>
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 :x
Hence, everytime it give out largest slope of gain even at the final requested position. :cry:

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

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

Statistics: Posted by Ray — Sun Nov 29, 2009 5:51 am

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