4
$\begingroup$

I have a controller board for a motor, where I can read the motor current (to transform to torque), the position, the velocity and I can give a velocity command. There is not really a torque mode on this controller, that is I can only command velocity and read torque but I cannot give a torque reference.

How can use it to give a torque reference?, hence to comply with the standard robotic equation of the type

$\tau = m \ddot{q} + H(\dot{q},q) + G(q)$

That is that I get the $\tau$ value to send as reference, but in my case the controller board I have receives $\dot q$ and sends $\tau$. Is there a way to still use the standard equation for control ?

$\endgroup$
1
$\begingroup$

The $m$ in your equation looks like the symbol for mass. Really it should be $M$, the inertia matrix, but maybe you meant this.

If you are only dealing with a dual-link arm in a single plane, then you should be able to determine the inverse. This is dealt with in a lot of books, but the clearest explanation I have found is in an old MIT AI Lab paper. See p.12ff.

| improve this answer | |
$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Not the answer you're looking for? Browse other questions tagged or ask your own question.