I think can be more simple than admittance control ... but after andypugh condideration ... think admittance control was the best way to do. https://robomechjournal.springeropen.com/articles/10.1186/s40648-022-00237-5#:~:text=Admittance%20control%20is%20a%20type,in%20response%20to%20external%20forces . so special kinematics ....
any how I remember a video whre some guys make it with Lcnc .... more or less 6/7 year ago .... but nor find it now. Sob.was clear and helpful. regards and thanks Il giorno lun 22 mag 2023 alle ore 12:39 andy pugh <bodge...@gmail.com> ha scritto: > On Mon, 22 May 2023 at 11:26, Les Newell <les.new...@fastmail.co.uk> > wrote: > > > > I think the OP is referring to a function on some robot arms where the > > drives apply enough torque to counterbalance the weight of the arm while > > not trying to hold position. This allows you to grab hold of it and > > manually move it around. I think this would require some interesting > > kinematics to apply just the correct amount of torque on each joint > > depending on the arm's position. > > I would imagine that part of the system would involve a PID loop to > hold position, but one that both holds the current output and updates > the commanded position to match the actual if the required output > torque exceeds a threshold. > > It is possible that the need for clever kinematics could be avoided > with clever filtering of the torque window limits based on the current > torque. > > I would imagine that this would be very difficult for a heavy robot > where the component weights exceed human strength, and very easy for a > lightweight system where a human can easily overpower even a > fully-driven motor. > > -- > atp > "A motorcycle is a bicycle with a pandemonium attachment and is > designed for the especial use of mechanical geniuses, daredevils and > lunatics." > — George Fitch, Atlanta Constitution Newspaper, 1912 > > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
