What is exactly is "Model-based Impedance Tuning control"? #88
Description
Hi, may I ask what exactly is "Model-based Impedance Tuning control"?
piper_sdk/asserts/V2/INTERFACE_V2.MD
Line 1309 in e09101e
Does it correspond to the following equation?
-
$c_{ff}$ feedforward current -
$c_{ref}$ reference current -
$p_{des}$ is the expected position of the motor side, in counts; -
$θ_m$ is the current position of the motor side, in counts; -
$v_{des}$ is the expected speed of the motor side, in rpm; -
$dθ_m$ is the current speed of the motor side, in rpm;