Timeline for Making a motor controlled joint passive
Current License: CC BY-SA 4.0
12 events
| when toggle format | what | by | license | comment | |
|---|---|---|---|---|---|
| Aug 21, 2019 at 18:00 | history | tweeted | twitter.com/StackRobotics/status/1164235905881772032 | ||
| Jul 18, 2019 at 8:45 | answer | added | Alex Smith | timeline score: 1 | |
| Apr 28, 2019 at 18:00 | history | bumped | CommunityBot | This question has answers that may be good or bad; the system has marked it active so that they can be reviewed. | |
| Mar 30, 2019 at 12:26 | comment | added | Ugo Pattacini | @drerD it's a complex argument thus my warm recommendation is to read a textbook. One of the best resources on this - also available online at academia.edu/23785978/… - is the book of Sciavicco-Siciliano. Active compliance is described in chapter 9.2.2. | |
| Mar 29, 2019 at 19:10 | comment | added | drerD | @Ugo what are some tools and resources for designing active compliance? | |
| Mar 29, 2019 at 16:46 | answer | added | Kojoe | timeline score: 0 | |
| Mar 24, 2019 at 19:10 | comment | added | John M. | @Ugo Oh, I'm actually trying to switch off the motor during passive mode. I'm not trying to make the motor behave like if it was passive, but I'm trying to make it actually passive without any work by the motor. | |
| Mar 24, 2019 at 19:00 | comment | added | Ugo Pattacini | Backdrivability can be implemented not only natively by means of passive compliance but also via active compliance where the motors are commanded using force/torque feedback to make the joint behave as it would be "passive". | |
| Mar 24, 2019 at 17:22 | comment | added | John M. | @Ugo I know only little about inverse dynamics, but AFAIK what you suggested wouldn't actually make the joint passive, right? | |
| Mar 24, 2019 at 16:40 | comment | added | Ugo Pattacini | Did you consider equipping the system with force/torque sensing capabilities and thus use inverse dynamics to implement active compliance and/or zero-g control? | |
| Mar 24, 2019 at 15:58 | history | edited | John M. | CC BY-SA 4.0 |
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| Mar 24, 2019 at 15:52 | history | asked | John M. | CC BY-SA 4.0 |