Control Description

Control Implementation

Host side loop (1KHz)

Motor side loop (5Khz)

Secondary Motor loop (5KHz)

“P”, “I” & “D”: Control gain parameters

“F”: Torque demand fed forward to the output

Torque_limit: Control torque demand limitation

“Max_force”: Output limitation

“P”, “I” & “D”: Control gain parameters

Torque_limiter_gain: Proportional term parameter

“Position_Deadband”: Band where error is considered zero

“Max_PWM”: Motor PWM limitation

“Deadband”: Band where error is considered zero

“Sign”: Define the flex and the extend tendon

../_images/ed_control_description.png

Control Options

PWM

Teach Mode

Position

Trayectory(*)

Control input: PWM demand

Control input: Torque (Effort) demand

Control input: Position demand

Control input: Position demand + time

(*) Position Control with the addition of one algorithm on the top which splits the position target into a collection of points, creating a spline which controls the speed of the joint

Input refreshment: 1kHz

Input refreshment: 1kHz

Input refreshment: 1kHz

Implemented in: Motor side

Implemented in: Motor side

Implemented in: Host side

Control output: PWM demand

Control output: PWM demand

Control output: PWM demand

Control loop: 5KHz

Control loop: 1KHz

Sensor feedback: Motor strain gauges

Sensor feedback: Joint position sensors