Hi!
I'm trying to get a simulation of my robot's ZMP walking algorithm. Since it is actuated with dynamixel MX-106 and MX-64 servos, I would like to adjust the dynamic properties of each joint to best match the behaviour of these servos. The question is, how should I do this? My guess so far would be to enable the motor, enable the control loop, enable PID control and regulate torque/force using the same PID parameters as I'm using in the actual servos. Would this be the correct approach?
Thanks in advance,
Sofia
Joint dynamic properties for simulating dynamixel sevos
Re: Joint dynamic properties for simulating dynamixel sevos
Hello Sofia,
your approach sounds correct. It of course always depends on how close you want to come to reality. You could also adjust the torque on-the-fly, making it also dependent on the velocity. But that will require you to create a correspondence table.
Cheers
your approach sounds correct. It of course always depends on how close you want to come to reality. You could also adjust the torque on-the-fly, making it also dependent on the velocity. But that will require you to create a correspondence table.
Cheers