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Commit 0317855

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Bailey Noack
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Merge branch '160V' into 'devel'
added additional config files for 160V WAM See merge request software/libbarrett!50
2 parents e850507 + 8fdddaa commit 0317855

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‎config/wam4-160V.conf

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# Configuration file for a 4-DOF WAM
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wam4:
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{
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low_level:
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{
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# Home position and zero-angle calibration data
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@include "calibration_data/wam4/zerocal.conf"
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j2mp = (( -42.0, 0, 0, 0 ),
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( 0, 28.25, -16.8155, 0 ),
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( 0, -28.25, -16.8155, 0 ),
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( 0, 0, 0, -18.0 ));
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joint_encoder_counts = (1578399, 655360, 655360, 327680);
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};
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# Calibrated gravity compensation data
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@include "calibration_data/wam4/gravitycal.conf"
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kinematics:
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{
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world_to_base = (( 1, 0, 0, 0),
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( 0, 1, 0, 0),
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( 0, 0, 1, 0),
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( 0, 0, 0, 1));
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moving:
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(
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# Note: alpha_pi = alpha / pi
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{ alpha_pi = -0.5; a = 0; d = 0; }, # Base Yaw
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{ alpha_pi = 0.5; a = 0; d = 0; }, # Base Pitch
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{ alpha_pi = -0.5; a = 0.045; d = 0.5500; }, # Twist
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{ alpha_pi = 0.5; a = -0.045; d = 0; } # Elbow
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);
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toolplate = { alpha_pi = 0; theta_pi = 0; a = 0; d = 0.36; };
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};
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dynamics:
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{
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/* From inertial specifications Sept 2008 */
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moving:
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(
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{
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# Link 1
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mass = 10.7677;
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com = ( -4.43e-3, 121.89e-3, -0.66e-3 );
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I = (( 134880.33e-6, -2130.41e-6, -124.85e-6 ),
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( -2130.41e-6, 113283.69e-6, 685.55e-6 ),
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( -124.85e-6, 685.55e-6, 90463.30e-6 ));
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},
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{
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# Link 2
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mass = 3.8749;
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com = ( -2.37e-3, 31.06e-3, 15.42e-3 );
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I = (( 21409.58e-6, 271.72e-6, 24.61e-6 ),
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( 271.72e-6, 13778.75e-6, -1819.20e-6 ),
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( 24.61e-6, -1819.20e-6, 15589.06e-6 ));
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},
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{
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# Link 3
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mass = 1.8023;
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com = ( -38.26e-3, 207.51e-3, 0.03e-3 );
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I = (( 59110.77e-6, -2496.12e-6, 7.38e-6 ),
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( -2496.12e-6, 3245.50e-6, -17.67e-6 ),
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( 7.38e-6, -17.67e-6, 59270.43e-6 ));
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},
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{
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# Link 4
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mass = 1.0651;
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com = ( 10.95e-3, -0.03e-3, 140.54e-3 );
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I = (( 18485.77e-6, 2.19e-6, -1608.68e-6 ),
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( 2.19e-6, 18916.58e-6, 5.15e-6 ),
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( -1608.68e-6, 5.15e-6, 1975.17e-6 ));
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}
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# Tool?
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);
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};
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joint_velocity_filter:
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{
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type = "low_pass";
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omega_p = (180, 180, 180, 180);
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};
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joint_position_control:
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{
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kp = ( 900, 3500, 1500, 500);
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ki = ( 2.5, 5, 2, 0.5);
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kd = ( 60, 85, 10, 10);
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control_signal_limit = (200, 180, 100, 60);
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};
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joint_velocity_control:
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({
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kp = ( 42, 42, 18, 18);
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ki = ( 0, 0, 0, 0);
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kd = ( 0, 0, 0, 0);
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control_signal_limit = (25, 20, 15, 15);
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},
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{
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type = "low_pass";
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omega_p = (180, 180, 56, 56);
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});
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tool_position_control:
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{
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kp = (2000, 2000, 2000);
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ki = ( 0, 0, 0);
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kd = ( 20, 20, 20);
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control_signal_limit = (100, 100, 100);
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};
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tool_orientation_control:
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{
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kp = 560;
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kd = 3;
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};
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};
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‎config/wam7w-160V.conf

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# Configuration file for a 7-DOF WAM with a Wrist
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# Custom version for WAM mounted on its side.
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# robot +x is world -z
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# robot +y is world +y
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# robot +z is world +x
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wam7w:
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{
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low_level:
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{
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# Home position and zero-angle calibration data
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@include "calibration_data/wam7w/zerocal.conf"
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j2mp = (( -42.0, 0, 0, 0, 0, 0, 0 ),
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( 0, 28.25, -16.8155, 0, 0, 0, 0 ),
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( 0, -28.25, -16.8155, 0, 0, 0, 0 ),
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( 0, 0, 0, -18.0, 0, 0, 0 ),
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( 0, 0, 0, 0, 9.7, -9.7, 0 ),
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( 0, 0, 0, 0, 9.7, 9.7, 0 ),
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( 0, 0, 0, 0, 0, 0, -14.93 ));
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joint_encoder_counts = (1578399, 655360, 655360, 327680, 0, 0, 0);
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};
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# Calibrated gravity compensation data
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@include "calibration_data/wam7w/gravitycal.conf"
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kinematics:
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{
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world_to_base = (( 1, 0, 0, 0),
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( 0, 1, 0, 0),
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( 0, 0, 1, 0),
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( 0, 0, 0, 1));
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moving:
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(
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# Note: alpha_pi = alpha / pi
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{ alpha_pi = -0.5; a = 0; d = 0; }, # Base Yaw
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{ alpha_pi = 0.5; a = 0; d = 0; }, # Base Pitch
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{ alpha_pi = -0.5; a = 0.045; d = 0.5500; }, # Twist
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{ alpha_pi = 0.5; a = -0.045; d = 0; }, # Elbow
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{ alpha_pi = -0.5; a = 0; d = 0.3000; }, # Wrist Yaw
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{ alpha_pi = 0.5; a = 0; d = 0; }, # Wrist Pitch
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{ alpha_pi = 0; a = 0; d = 0.0609; } # Wrist Twist
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);
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toolplate = { alpha_pi = 0; theta_pi = 0; a = 0; d = 0; };
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};
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dynamics:
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{
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# From inertial specifications Sept 2008
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moving:
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(
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{
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# Link 1
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mass = 10.7677;
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com = ( -4.43e-3, 121.89e-3, -0.66e-3 );
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I = (( 134880.33e-6, -2130.41e-6, -124.85e-6 ),
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( -2130.41e-6, 113283.69e-6, 685.55e-6 ),
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( -124.85e-6, 685.55e-6, 90463.30e-6 ));
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},
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{
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# Link 2
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mass = 3.8749;
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com = ( -2.37e-3, 31.06e-3, 15.42e-3 );
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I = (( 21409.58e-6, 271.72e-6, 24.61e-6 ),
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( 271.72e-6, 13778.75e-6, -1819.20e-6 ),
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( 24.61e-6, -1819.20e-6, 15589.06e-6 ));
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},
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{
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# Link 3
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mass = 1.8023;
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com = ( -38.26e-3, 207.51e-3, 0.03e-3 );
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I = (( 59110.77e-6, -2496.12e-6, 7.38e-6 ),
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( -2496.12e-6, 3245.50e-6, -17.67e-6 ),
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( 7.38e-6, -17.67e-6, 59270.43e-6 ));
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},
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{
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# Link 4
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mass = 2.17266212;
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com = ( 0.00553408,0.00006822,0.11927695 );
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I = (( 0.01067491, 0.00004503, -0.00135557 ),
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( 0.00004503, 0.01058659, -0.00011002 ),
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( -0.00135557, -0.00011002, 0.00282036 ));
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},
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{
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# Link 5
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mass = 0.35655692;
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com = ( 0.00005483,0.02886286,0.00148493 );
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I = (( 0.00037112, -0.00000008, -0.00000003 ),
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( -0.00000008, 0.00019434, -0.00001613 ),
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( -0.00000003, -0.00001613, 0.00038209 ));
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},
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{
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# Link 6
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mass = 0.40915886;
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com = ( -0.00005923,-0.01686123,0.02419052 );
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I = (( 0.00054889, 0.00000019, -0.00000010 ),
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( 0.00000019, 0.00023846, -0.00004430 ),
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( -0.00000010, -0.00004430, 0.00045133 ));
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},
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{
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# Link 7
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mass = 0.07548270;
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com = ( 0.00014836,0.00007252,-0.00335185 );
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I = (( 0.00003911, 0.00000019, 0.00000000 ),
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( 0.00000019, 0.00003877, 0.00000000 ),
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( 0.00000000, 0.00000000, 0.00007614 ));
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}
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# Tool?
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);
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};
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joint_velocity_filter:
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{
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type = "low_pass";
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omega_p = (180, 180, 180, 180, 180, 180, 180);
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};
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joint_position_control:
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{
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kp = ( 800, 1250, 1500, 500, 50, 50, 8);
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ki = ( 2.5, 5, 2, 0.5, 0.5, 0.5, 0.1);
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kd = ( 80, 70, 10, 10, 0.5, 0.5, 0.1);
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control_signal_limit = (400, 400, 100, 120, 5, 5, 5);
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};
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joint_velocity_control:
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({
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kp = ( 42, 42, 18, 18, 3, 3, 3);
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ki = ( 0, 0, 0, 0, 0, 0, 0);
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kd = ( 0, 0, 0, 0, 0, 0, 0.1);
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control_signal_limit = (25, 20, 15, 15, 5, 5, 5);
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},
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{
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type = "low_pass";
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omega_p = (180, 180, 56, 56, 10, 30, 3);
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});
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tool_position_control:
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{
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kp = (2000, 2000, 2000);
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ki = ( 0, 0, 0);
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kd = ( 20, 20, 20);
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control_signal_limit = (100, 100, 100);
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};
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tool_orientation_control:
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{
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# Tool-plate/Haptic ball
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kp = 4.2;
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kd = 0.042;
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# BHand
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#kp = 18;
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#kd = 0.087;
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};
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};

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