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Current Works Overview

Current Works Overview. Realtime Data Acquisition from Camera System Direct to MatLAB (More on slide 2) Streaming using NATNet Tracking Tools Axis Problem Worked on WAM Hand – realized our hand does not have strain gauges Updated shuttle with latest code

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Current Works Overview

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  1. Current Works Overview • Realtime Data Acquisition from Camera System • Direct to MatLAB(More on slide 2) • Streaming using NATNet • Tracking Tools Axis Problem • Worked on WAM Hand – realized our hand does not have strain gauges • Updated shuttle with latest code • Performed tests with John using constant torque to monitor effect of friction on velocity • Confirmed WAM motor is exerting specified torque • Met with Professor John Wenregarding implementing a State Feedback controller • Began testing with John to compute PID gains and gravity compensation

  2. Motion Camera System Progress • Real-time Data Acquisition from Camera System • Wrote a MATLAB script to pull data directly into structs within MATLAB • Current Limitations: currently only runs up to 75 FPS, doesn’t give corresponding marker locations with Trackable object (need to calculate estimated marker locations as well as actual marker locations for each object) • Left vs Right Handed axis – seems to be a bug in Tracking Tools where exported data and translation option default to a left handed system • John emailed Optitrack and we are awaiting a reply • Streaming using NATNet (streams UDP packets from Tracking Tools to MATLAB) • Hopefully we will be able to record data at 100 FPS • Currently working on an implementation in MATLAB but ran into problems with .NET function calls • Called MATLAB tech support and got a reply back today- said it is a known bug in the release I was using and recommended updating MATLAB

  3. WAM Progress • Ran test with constant torque on joint 1 and monitored velocity with respect to position • Found that velocity plot did not show constant acceleration due to friction (velocity actually decelerated at some positions) • Used scale to measure torque being applied by joint 1 • Torque being applied is as expected (the specified torque) • Met with Professor John When • Recommended first implementing a PD controller for each joint, then implement gravity compensation, then implement friction compensation • Position dependent friction will be accounted for using integral control (but should be relatively low) • Need to verify velocity measurement is accurate • Performed tests to determine PD gains with John

  4. Whats next? • Continue assisting John as needed • Implement an accurate control system for WAM • Perform grasping experiments • Continue Implementation of real time collection of data in MATLAB • Review grasping notes/complete assignments

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