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Optimizing Joint Friction Estimation for Trajectory Control System

Working to estimate joint friction accurately for enhanced trajectory control. Implementing FAT32 partition for data capture, testing and improving sampling rates, and planning trajectory blending. Next steps include finalizing position/trajectory control, integrating blending for smoother motion, exploring UDP position commands, and testing Simulink model for Barrett Hand.

guy-emerson
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Optimizing Joint Friction Estimation for Trajectory Control System

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  1. Current Work • Trying to estimate friction on joints • Set up FAT32 partition on XPC target machine so I can capture data • Got some great data for joint 4, but the friction seems to depend on position more than velocity which seems strange to me. Going to try and estimate this with an average value possibly. • Using a moving average for velocity and acceleration curves now • This is working well • Going to try and boost sampling rate as high as I can go. Average TET is 0.0006 sec, so we might be able to get 1500 Hz

  2. What's Next • Finish position/trajectory control (once I have the gains and friction compensation this should work well) • Integrate blending into the points of the trajectory so we get smooth velocity/acceleration • Possibly write a program sending position commands over UDP • Test and debug Simulink model for Barrett Hand • Coordinate the trajectory model and the hand model

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