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 |