Hi everyone,
I need some help in a controller I'm developing for a NAO Robot.
I calibrate the controllers in Joint Dynamics Properties, but I need to program it in sysCall_jointCallback and used this code:
http://www.coppeliarobotics.com/helpFil ... ctions.htm
But the controller does not work, maybe there is something else that I should calibrate or put in, because the current output remains saturated in a value but still increases the constants of the PID controller (Kp, Ki, Kd).
Thank you all for your help.
Joint Dynamics Properties on NAO Controller
Re: Joint Dynamics Properties on NAO Controller
Hello,
what do you mean with "it does not work"? what is it intended to do, and what does it do?
The controller code from the user manual is a position controller. Try to use default values from the physics engine, and a default controller. From there, slowly modify one or the other until something doe not work anymore. Then you will know where the problem lies...
Cheers
what do you mean with "it does not work"? what is it intended to do, and what does it do?
The controller code from the user manual is a position controller. Try to use default values from the physics engine, and a default controller. From there, slowly modify one or the other until something doe not work anymore. Then you will know where the problem lies...
Cheers
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Re: Joint Dynamics Properties on NAO Controller
Hello,coppelia wrote: ↑27 May 2019, 05:43 Hello,
what do you mean with "it does not work"? what is it intended to do, and what does it do?
The controller code from the user manual is a position controller. Try to use default values from the physics engine, and a default controller. From there, slowly modify one or the other until something doe not work anymore. Then you will know where the problem lies...
Cheers
I want to implement the position controller in the function sysCall_jointCallback (inData) since it is 10 times faster than a normal script.
Currently, I generate references from Matlab, sent them to vrep and use the Joint Dynamics Properties controller and the walk controller works very well. But when I want to implement the controller as explained here: http://www.coppeliarobotics.com/helpFil ... ctions.htm, the outputs no longer follow the reference even if I put very high proportional currencies, and with what I read, it is supposed to work the same but the controller does not work in the jointCallback function.
I have found the error, and when I enabled the controller in Joint Dynamics Properties and also enabled the jointCallback function, I draw the position error and there is none, with the references you sent from matlab. But when I leave only the jointCallback enabled with the proposed PID controller and the constants used in the interface and it does not work I have a position error of 100%.
I really do not know why it does not work.
Re: Joint Dynamics Properties on NAO Controller
Please try to make a minimalistic example that illustrates your problem. Best would be to have a very simple scene with a single joint. Debugging a complex robot such as the NAO robot is almost impossible if you do not break things down.
Cheers
Cheers