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Merged
merged 8 commits into from
Mar 6, 2023
Merged

[ergoCubSN000] Update the configuration file #450

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17165c5
[ergoCubSN000] Update leg torque control gains
lrapetti Feb 16, 2023
83981bb
[ergoCubSN000] Enable torque control via current on arms
lrapetti Feb 24, 2023
d63c343
[ergoCubSN000] Update the cluster config file
GiulioRomualdi Mar 1, 2023
2bb0a96
updated current limits and head PID gains
mebbaid Mar 2, 2023
7257948
[ergoCubSN000] Decrease the PID gains of the head
GiulioRomualdi Mar 6, 2023
affadb0
[ergoCubSN000] Decrease the PID of the wrists
GiulioRomualdi Mar 6, 2023
f555aad
[ergoCubSN000] Update the calibrators of the wrists
GiulioRomualdi Mar 6, 2023
e2aeec4
Make sure that:
Mar 6, 2023
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2 changes: 1 addition & 1 deletion ergoCubSN000/calibrators/left_arm-calib.xml
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Expand Up @@ -30,7 +30,7 @@
</group>

<!-- motor's encoder of joint 7 can't read -->
<param name="CALIB_ORDER"> (4 5 6) (2) (0) (1) (3) (7 8 9 10) (11 12) </param>
<param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8 9 10) (11 12) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_arm-mc_remapper</param>
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5 changes: 3 additions & 2 deletions ergoCubSN000/calibrators/right_arm-calib.xml
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Expand Up @@ -17,7 +17,7 @@
</group>
<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 12 12 12 12 12 12 12 12 12 </param>
<param name="calibration1"> -4000 3000 3000 -4000 6109 28993 36030 0 0 0 0 0 0 </param>
<param name="calibration1"> -4000 3000 3000 -4000 19023 28993 36030 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
Expand All @@ -30,7 +30,8 @@
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 90 90 90 90 90 90 </param>
</group>

<param name="CALIB_ORDER"> (4 5 6) (2) (0) (1) (3) (7 8 9 10) (11 12) </param>
<!-- <param name="CALIB_ORDER"> (4 5 6) (2) (0) (1) (3) (7 8) (11 12) </param> -->
<param name="CALIB_ORDER"> (3) (2) (0) (1) (7 8) (11 12) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">right_arm-mc_remapper</param>
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26 changes: 12 additions & 14 deletions ergoCubSN000/extra/contexts/yarpmanager/cluster-config.xml
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@@ -1,17 +1,15 @@
<cluster name="icub09" user="icub">

<!-- specify type="yarpserver" or type="yarpserver3" to use the old or new nameserver default behavior is to use yarpserver3 -->
<nameserver namespace="/icub09" node="icub-console" type="yarpserver"> </nameserver>

<!-- specify nodes, if you want to enable display on desktop please specify which desktop to use
this is usually the value of the DISPLAY variable when logged on -->
<node display=":0" address="10.0.0.158">icub-console</node>
<node display=":0" address="10.0.10.164">icub-console-gui</node>
<node address="10.0.10.115" user="pi">pi-ifeel</node>
<node display=":1">icub-cuda</node>
<node address="10.0.0.2">icub-head</node>
<node>icub-virtualizer</node>
<node display=":1" address="10.0.10.29">icub29</node>
<cluster name="ergocub00" user="ergocub">

<!-- specify type="yarpserver" or type="yarpserver3" to use the old or new nameserver default behavior is to use yarpserver3 -->
<nameserver namespace="/ergocub00" node="ergocub-torso" type="yarpserver"> </nameserver>

<!-- specify nodes, if you want to enable display on desktop please specify which desktop to use
this is usually the value of the DISPLAY variable when logged on -->
<node display=":0" address="10.0.2.1">ergocub-laptop</node>
<node address="10.0.2.2">ergocub-torso</node>
<node display=":1" address="10.0.2.3">ergocub-head</node>
<node display=":0" address="10.0.10.164" user="icub">icub-console-gui</node>
<node>icub-virtualizer</node>

</cluster>

6 changes: 3 additions & 3 deletions ergoCubSN000/hardware/motorControl/head-eb20-j0_1-mc.xml
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Expand Up @@ -47,9 +47,9 @@
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> -512 +535 </param>
<param name="kd"> -17 +14 </param>
<param name="ki"> -1621 +1670 </param>
<param name="kp"> -150 +150 </param>
<param name="kd"> 0 0 </param>
<param name="ki"> -15 +15 </param>
<param name="maxOutput"> 3360 3360 </param>
<param name="maxInt"> 3360 3360 </param>
<param name="stictionUp"> 0 0 </param>
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33 changes: 32 additions & 1 deletion ergoCubSN000/hardware/motorControl/left_arm-eb2-j0_1-mc.xml
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Expand Up @@ -33,7 +33,7 @@
<param name="positionControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="velocityControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="mixedControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="torqueControl"> TRQ_PID_DEFAULT TRQ_PID_DEFAULT </param>
<param name="torqueControl"> TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR </param>
<param name="currentPid"> 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL </param>
<param name="speedPid"> 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL </param>
</group>
Expand Down Expand Up @@ -112,12 +112,43 @@


<!-- custom PIDs: begin -->
<group name="TRQ_PID_OUTPUT_CURR">
<param name="controlLaw"> torque </param>
<param name="outputType"> current </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 150 100 </param>
<param name="kd"> 0 0 </param>
<param name="ki"> 0 0 </param>
<param name="maxOutput"> 2500 2500 </param>
<param name="maxInt"> 200 200 </param>
<param name="ko"> 0 0 </param>
<param name="stictionUp"> 0 0 </param>
<param name="stictionDown"> 0 0 </param>
<param name="kff"> 1 1 </param>
<param name="kbemf"> 0.0001 0.0001 </param>
<param name="filterType"> 0 0 </param>
<param name="ktau"> 250 200 </param>
</group>
<!-- custom PIDs: end -->

<group name="OTHER_CONTROL_PARAMETERS">
<param name="deadZone"> 0.0049 0.0049 </param>
</group>

<!-- kalman filter parameters - vel & acc estimation -->
<group name="KALMAN_FILTER">
<param name="kalmanFilterEnabled"> 1 1 </param>
<param name="x0"> 0 0 </param>
<param name="x1"> 0 0 </param>
<param name="x2"> 0 0 </param>
<param name="Q0"> 0.0001 0.0001 </param>
<param name="Q1"> 0.01 0.01 </param>
<param name="Q2"> 10 10 </param>
<param name="R"> 0.001 0.001 </param>
<param name="P0"> 0.000099 0.000099 </param>
</group>

</device>


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12 changes: 6 additions & 6 deletions ergoCubSN000/hardware/motorControl/left_arm-eb31-j4_6-mc.xml
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Expand Up @@ -15,9 +15,9 @@
<param name="jntPosMax"> 90 50 30 </param>
<param name="jntPosMin"> -90 -60 -30 </param>
<param name="jntVelMax"> 90 90 90 </param>
<param name="motorNominalCurrents"> 1000 1000 1000 </param>
<param name="motorPeakCurrents"> 1500 1500 1500 </param>
<param name="motorOverloadCurrents"> 2000 2000 2000 </param>
<param name="motorNominalCurrents"> 300 300 300 </param>
<param name="motorPeakCurrents"> 360 360 360 </param>
<param name="motorOverloadCurrents"> 450 450 450 </param>
<param name="motorPwmLimit"> 16000 16000 16000 </param>
</group>

Expand Down Expand Up @@ -47,9 +47,9 @@
<param name="outputType"> current </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> -67 -67 -67 </param>
<param name="kd"> -11 -11 -11 </param>
<param name="ki"> -294 -294 -294 </param>
<param name="kp"> -50 -50 -50 </param>
<param name="kd"> -8 -8 -8 </param>
<param name="ki"> -220 -220 -220 </param>
<param name="maxOutput"> 500 500 500 </param>
<param name="maxInt"> 200 200 200 </param>
<param name="stictionUp"> 0 0 0 </param>
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33 changes: 32 additions & 1 deletion ergoCubSN000/hardware/motorControl/left_arm-eb4-j2_3-mc.xml
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Expand Up @@ -33,7 +33,7 @@
<param name="positionControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="velocityControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="mixedControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="torqueControl"> TRQ_PID_DEFAULT TRQ_PID_DEFAULT </param>
<param name="torqueControl"> TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR </param>
<param name="currentPid"> 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL </param>
<param name="speedPid"> 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL </param>
</group>
Expand Down Expand Up @@ -112,12 +112,43 @@


<!-- custom PIDs: begin -->
<group name="TRQ_PID_OUTPUT_CURR">
<param name="controlLaw"> torque </param>
<param name="outputType"> current </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 0 -200 </param>
<param name="kd"> 0 0 </param>
<param name="ki"> 0 0 </param>
<param name="maxOutput"> 2500 2500 </param>
<param name="maxInt"> 200 200 </param>
<param name="ko"> 0 0 </param>
<param name="stictionUp"> 0 0 </param>
<param name="stictionDown"> 0 0 </param>
<param name="kff"> 1 1 </param>
<param name="kbemf"> 0.0001 -0.0002 </param>
<param name="filterType"> 0 0 </param>
<param name="ktau"> 50 -300 </param>
</group>
<!-- custom PIDs: end -->

<group name="OTHER_CONTROL_PARAMETERS">
<param name="deadZone"> 0.0049 0.0049 </param>
</group>

<!-- kalman filter parameters - vel & acc estimation -->
<group name="KALMAN_FILTER">
<param name="kalmanFilterEnabled"> 1 1 </param>
<param name="x0"> 0 0 </param>
<param name="x1"> 0 0 </param>
<param name="x2"> 0 0 </param>
<param name="Q0"> 0.0001 0.0001 </param>
<param name="Q1"> 0.01 0.01 </param>
<param name="Q2"> 10 10 </param>
<param name="R"> 0.001 0.001 </param>
<param name="P0"> 0.000099 0.000099 </param>
</group>

</device>


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8 changes: 4 additions & 4 deletions ergoCubSN000/hardware/motorControl/left_leg-eb8-j0_3-mc.xml
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Expand Up @@ -117,18 +117,18 @@
<param name="outputType"> current </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> -0.0 0.0 -0.0 -0.0 </param>
<param name="kp"> -100 150 -0.0 -350 </param>
<param name="kd"> 0 0 0 0 </param>
<param name="ki"> -0 0 -0 -0 </param>
<param name="ki"> -10 25 -0 -100 </param>
<param name="maxOutput"> 2500 2500 2500 2500 </param>
<param name="maxInt"> 200 200 200 200 </param>
<param name="ko"> 0 0 0 0 </param>
<param name="stictionUp"> 0 0 0 0 </param>
<param name="stictionDown"> 0 0 0 0 </param>
<param name="kff"> 1 1 1 1 </param>
<param name="kbemf"> -0.0 0.0 -0.0 -0.0 </param>
<param name="kbemf"> -0.0001 0.0001 -0.0005 -0.0003 </param>
<param name="filterType"> 0 0 0 0 </param>
<param name="ktau"> -50 50 -50 -50 </param>
<param name="ktau"> -40 50 -150 -110 </param>
</group>

<!-- custom PIDs: end -->
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14 changes: 7 additions & 7 deletions ergoCubSN000/hardware/motorControl/left_leg-eb9-j4_5-mc.xml
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Expand Up @@ -116,18 +116,18 @@
<param name="outputType"> current </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> -1000 -1000 </param>
<param name="kd"> 0 0 </param>
<param name="ki"> -500 -1000 </param>
<param name="maxOutput"> 2500 2500 </param>
<param name="maxInt"> 200 200 </param>
<param name="kp"> -0 -50 </param>
<param name="kd"> 0 0 </param>
<param name="ki"> -0 0 </param>
<param name="maxOutput"> 2500 2500 </param>
<param name="maxInt"> 200 200 </param>
<param name="ko"> 0 0 </param>
<param name="stictionUp"> 0 0 </param>
<param name="stictionDown"> 0 0 </param>
<param name="kff"> 1 1 </param>
<param name="kbemf"> -0.0009 -0.0003 </param>
<param name="kbemf"> -0.0009 -0.0003 </param>
<param name="filterType"> 0 0 </param>
<param name="ktau"> -128.81 -227.739 </param>
<param name="ktau"> -128.81 -160 </param>
</group>
<!-- custom PIDs: end -->

Expand Down
33 changes: 32 additions & 1 deletion ergoCubSN000/hardware/motorControl/right_arm-eb1-j0_1-mc.xml
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Expand Up @@ -34,7 +34,7 @@
<param name="positionControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="velocityControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="mixedControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="torqueControl"> TRQ_PID_DEFAULT TRQ_PID_DEFAULT </param>
<param name="torqueControl"> TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR </param>
<param name="currentPid"> 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL </param>
<param name="speedPid"> 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL </param>
</group>
Expand Down Expand Up @@ -114,12 +114,43 @@


<!-- custom PIDs: begin -->
<group name="TRQ_PID_OUTPUT_CURR">
<param name="controlLaw"> torque </param>
<param name="outputType"> current </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> -150 -100 </param>
<param name="kd"> 0 0 </param>
<param name="ki"> 0 0 </param>
<param name="maxOutput"> 2500 2500 </param>
<param name="maxInt"> 200 200 </param>
<param name="ko"> 0 0 </param>
<param name="stictionUp"> 0 0 </param>
<param name="stictionDown"> 0 0 </param>
<param name="kff"> 1 1 </param>
<param name="kbemf"> -0.0001 -0.0001 </param>
<param name="filterType"> 0 0 </param>
<param name="ktau"> -250 -200 </param>
</group>
<!-- custom PIDs: end -->

<group name="OTHER_CONTROL_PARAMETERS">
<param name="deadZone"> 0.0049 0.0049 </param>
</group>

<!-- kalman filter parameters - vel & acc estimation -->
<group name="KALMAN_FILTER">
<param name="kalmanFilterEnabled"> 1 1 </param>
<param name="x0"> 0 0 </param>
<param name="x1"> 0 0 </param>
<param name="x2"> 0 0 </param>
<param name="Q0"> 0.0001 0.0001 </param>
<param name="Q1"> 0.01 0.01 </param>
<param name="Q2"> 10 10 </param>
<param name="R"> 0.001 0.001 </param>
<param name="P0"> 0.000099 0.000099 </param>
</group>

</device>


Expand Down
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