- marked as major
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assigned issue to
Implement integral gain
in the OP point task
Comments (7)
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reporter -
repo owner Implemented for gc controllers as of acbad472ffeba3f3cde32ef6ad1b667dc9023ba0
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reporter Great work Samir! Thanks!
Are you also going to implement it for the OP Task Controller?
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repo owner Done. b8e57ea21f2b8faaad43d4bd33454e8db5b472f3
Still needs a few updates to be compatible with the scl_eg_ctrl app.
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repo owner Fixed as of : 832a8db5e01c20a43a9972bbf715e3d38d08c83b
Try it using:
$./scl_eg_ctrl ../../specs/Puma/PumaCfg.xml PumaBot opcpida -op handpida
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repo owner - changed status to resolved
Fixed.
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reporter Hey Samir,
I just tried to use your PIDA controller in my code. The program worked fine before. Now it crashes once it reaches the console without giving an error.
I changed my KukaCfg.xml in the same way you did. And then I'm calling: sudo ./kuka_scl_controller kuka_specs/KukaCfg.xml KukaBot opcpida -op EndEffectorPositionPIDA
Do I need to change anything in my code?
Here's the ConfigFile for the KUKA. I'm posting it here, because it's not tracked by GIT:
<?xml version="1.0"?> <!DOCTYPE LOTUS SYSTEM "scl.dtd"> <!-- Units are in Std International System --> <scl> <robot name="KukaBot"> <spec>Kuka</spec> <gravity>0.000 0.000 -9.81</gravity> <file>kuka_specs/Kuka.xml</file> <root_link> <link_name>base</link_name> <position_in_parent>-0.10 -0.100 -0.85000</position_in_parent> <orientation_in_parent>0.000000 0.000000 0.000000 1.000000</orientation_in_parent> <graphics> <obj_file> <name>kuka_specs/graphics/kuka-swiwel.obj</name> <position_in_parent>0.000000 0.000000 0.000000</position_in_parent> <orientation_in_parent>0.707106 0.00000 0.000000 0.707106</orientation_in_parent> <collision_type>0</collision_type> <scaling>0.001 0.001 0.001</scaling> </obj_file> </graphics> </root_link> <!-- These flags can control the simulation's default behavior. ADDED BY FAGE--> <flag_gc_damping>false</flag_gc_damping> <flag_gc_limits>false</flag_gc_limits> <!-- Apply gc position limits (joint limits) --> <flag_actuator_force_limits>true</flag_actuator_force_limits> <flag_actuator_vel_limits>true</flag_actuator_vel_limits> <flag_actuator_acc_limits>true</flag_actuator_acc_limits> <flag_controller_on>true</flag_controller_on> <!-- Controller enabled at the start --> <flag_logging_on>false</flag_logging_on> <flag_wireframe_on>false</flag_wireframe_on> <option_axis_frame_size>0.0</option_axis_frame_size> <!-- All options are optional --> </robot> <graphics name="KukaBotStdView"> <camera> <pos>2.0 0.0 -0.975</pos> <lookat>0.0 0.0 0.0</lookat> <up>0 0 1</up> <clip>0 10</clip> <background>0 0 0</background> </camera> <light> <pos>2.0 0.0 0.0</pos> <lookat>0.0 0.0 0.5</lookat> </light> <light> <pos>-2.0 0.0 0.0</pos> <lookat>0.0 0.0 0.0</lookat> </light> <background_color>0.0 0.0 0.0</background_color> </graphics> <controller name="KukaGcCtrl"> <type>gc</type> <must_use_robot>KukaBot</must_use_robot> <kp>100</kp> <kv>10</kv> <ka>0</ka> <ki>0</ki> <force_max>10</force_max> <force_min>-10</force_min> </controller> <controller name="opcpida"> <type>task</type> <must_use_robot>KukaBot</must_use_robot> <task name="EndEffectorPositionPIDA"> <type>TaskOpPosPIDA1OrderInfTime</type> <parent_link>end-effector</parent_link> <pos_in_parent>0.001 0.001 0.05</pos_in_parent> <priority>0</priority> <task_dof>3</task_dof> <kp>80</kp> <kv>5</kv> <ka>0</ka> <ki>10</ki> <integral_time_constt>0.1</integral_time_constt> <integral_time_max>0.05</integral_time_max> <force_max>40</force_max> <force_min>-40</force_min> </task> <task name="GcTaskPIDA"> <type>TaskGc</type> <priority>1</priority> <task_dof>0</task_dof> <kp>5</kp> <kv>4</kv> <ka>0</ka> <ki>0</ki> <force_max>100</force_max> <force_min>-100</force_min> </task> <!-- 0 task_dof means a gc task, ie full dofs --> <task name="NullSpaceDampingTaskPIDA"> <type>TaskNullSpaceDamping</type> <priority>1</priority> <task_dof>0</task_dof> <kp>0</kp> <!-- <kv>4</kv> ROBERT'S ORIGINAL VALUE --> <kv>20</kv> <ka>0</ka> <ki>0</ki> <force_max>100</force_max> <force_min>-100</force_min> </task> </controller> </scl>
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