Timeline for Implementing a torque-controlled method on a position-controlled robot
Current License: CC BY-SA 3.0
17 events
when toggle format | what | by | license | comment | |
---|---|---|---|---|---|
Nov 24, 2015 at 9:26 | answer | added | EdibleRobot | timeline score: 0 | |
Jun 22, 2015 at 13:32 | comment | added | Mark Booth | Thinking about your question @PetchPuttichai, can you confirm that you have a robot which takes position inputs only, and you have no control over the torques to the motors? If so, then I presume that you are attempting to simulate torque control by stepping to a position just short of or just beyond the actual desired position. This sounds like a difficult problem, fraught with dangers. Is there any reason why you can't switch your motors into toque control mode? Are your motors steppers for instance? | |
Jun 22, 2015 at 13:26 | comment | added | Mark Booth | In stack exchange, it is better to edit your question to add information requested in comments, rather than adding more comments. Comments are for helping to improve questions and answers, and are distracting, so we try to keep them to a minimum. If all of the information needed to answer the question is contained within it, the comments can be tidied up (deleted). | |
Jun 19, 2015 at 5:50 | vote | accept | Petch Puttichai | ||
Jun 19, 2015 at 5:50 | answer | added | Petch Puttichai | timeline score: 3 | |
Jun 18, 2015 at 23:32 | comment | added | Ben♦ | Hi milad. Welcome to Robotics Stack Exchange. Please do not answer a question with another question like this. If the answers in this thread don't satisfy you, please consider posting your own question as a new thread. | |
Jun 18, 2015 at 15:12 | comment | added | milad | Dear friends did you find a good solution for Implementing a torque-controlled strategy on a position-controlled robot? | |
Dec 6, 2014 at 9:11 | comment | added | Petch Puttichai | @EugeneSh. The task may be to assemble furniture parts, or something like that. I think I have to implement impedance control in some way but now I still do not have concrete understanding or clear picture about it. Feedback information is available. | |
Dec 3, 2014 at 16:15 | answer | added | Alexandre Willame | timeline score: 1 | |
Dec 3, 2014 at 15:08 | comment | added | Eugene Sh. | @PetchPuttichai But what the arm should actually do? Follow some trajectory? Point to point movement? Movement with maximum exerted external force? If you need a torque/force or impedance control, you will need torque/force feedback from sensor or from observer based on your motors feedback. Are you able to provide it? | |
Dec 3, 2014 at 14:41 | answer | added | Ben♦ | timeline score: 0 | |
Dec 2, 2014 at 18:40 | comment | added | CroCo | Use PID controller. Your input will be the desired position. PID controller generates a torque that moves the manipulator to the desired position. | |
Dec 2, 2014 at 10:22 | history | tweeted | twitter.com/#!/StackRobotics/status/539726311498194944 | ||
Dec 2, 2014 at 3:15 | comment | added | Petch Puttichai | @EugeneSh. Actually impedance control is what I want to implement on the robot. The problem is that I can calculate a set of input joint-torque commands but the robot is joint-position controlled. So I would like to know if there is any way to translate joint-torque commands to joint-position commands. | |
Dec 1, 2014 at 18:32 | comment | added | Eugene Sh. | Can you describe the problem in more detail? You might want to look into 'impedance control' technique. | |
Dec 1, 2014 at 6:40 | review | First posts | |||
Dec 3, 2014 at 11:02 | |||||
Dec 1, 2014 at 6:33 | history | asked | Petch Puttichai | CC BY-SA 3.0 |