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Gains for the robots

Alpha

Tuned by Jeremy in Nov 2009. Generated slight buzzing, but the I terms will likely be useful.

Joint

Kp

Kd

Ki

i clamp

r_shoulder_pan_joint

2000.0

10.0

100.0

3.0

r_shoulder_lift_joint

1600.0

10.0

100.0

3.0

r_upper_arm_roll_joint

400.0

5.0

100.0

3.0

r_elbow_flex_joint

800.0

5.0

100.0

3.0

r_forearm_roll_joint

80.0

2.0

100.0

1.0

r_wrist_flex_joint

160.0

0.5

100.0

1.0

r_wrist_roll_joint

80.0

0.5

100.0

1.0

Tuned by Gunter in Dec 2009. Tested with step responses, and only considered preliminary.

Joint

Kp

Kd

lambda

l_shoulder_pan_joint

1000

10

1000

l_shoulder_lift_joint

1000

10

1000

l_upper_arm_roll_joint

200

3

100

l_elbow_flex_joint

100

3

200

l_forearm_roll_joint

500

6

200

l_wrist_flex_joint

400

4

200

l_wrist_roll_joint

400

4

200

Beta

These gains were being used by plugging in and the manipulation demos. Wim made these the default gains in April 2010.

Joint

Kp

Kd

lambda

Ki

i clamp

l_shoulder_pan_joint

2400

18

800

4

l_shoulder_lift_joint

1200

10

700

4

l_upper_arm_roll_joint

1000

6

600

4

l_elbow_flex_joint

700

4

450

4

l_forearm_roll_joint

300

6

300

2

l_wrist_flex_joint

300

4

300

2

l_wrist_roll_joint

300

4

300

2

These gains are an initial set of gains for the belt compensation. They are not tuned aggressively.

Joint

Kp

Kd

Ki

i clamp

k_belt

m_motor

kd_motor

lamda_motor

lambda_joint

lambda_combined

l_shoulder_pan_joint

2000

200

4000

0.05

15

30

30

20

l_shoulder_lift_joint

2000

150

4000

0.05

25

30

50

20

l_upper_arm_roll_joint

600

30

4000

0.05

5

30

50

20


2020-08-01 12:25