Difference between revisions of "Ltf science"
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=Dec 2009 - static test= | =Dec 2009 - static test= | ||
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*The backdrive motor was fixed at -11000, and the robot current was stepped with the following pattern: 0.2, -0.2, 0.4, -0.4, 0.6 amps, ..., 9, -9 amps. After the current step the system was allowed to settle. The LW was collected via RS232 - appx 87 samples averaged. This plot consists of appx 12 hrs of collection the full experiment cycled the backdrive motor from 21000 to -29000 (steps of -2000). This plot contains only the instances where the backdrive motor position == -11000. The LW (charge amp was not zeroed except at the very start of the experiment and its drift is apparent.) [[Ltf_matlab_source#ltf_pf_1.m]] | *The backdrive motor was fixed at -11000, and the robot current was stepped with the following pattern: 0.2, -0.2, 0.4, -0.4, 0.6 amps, ..., 9, -9 amps. After the current step the system was allowed to settle. The LW was collected via RS232 - appx 87 samples averaged. This plot consists of appx 12 hrs of collection the full experiment cycled the backdrive motor from 21000 to -29000 (steps of -2000). This plot contains only the instances where the backdrive motor position == -11000. The LW (charge amp was not zeroed except at the very start of the experiment and its drift is apparent.) [[Ltf_matlab_source#ltf_pf_1.m]] | ||
http://18.85.17.197/for_wiki/png/ltf/ltf_potential_plot_9amps_bd_m11000.png | http://18.85.17.197/for_wiki/png/ltf/ltf_potential_plot_9amps_bd_m11000.png | ||
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| + | * the BD motor was driven in the forward direction on 12-15-09 - the result was a strong dependence of force on BD position. | ||
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| + | http://18.85.17.197/for_wiki/png/ltf/force_dependence_on_bd_posion_121509.png | ||
| + | [[Ltf_matlab_source#ltf_bd_dep_1.m]] | ||
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=early experiments= | =early experiments= | ||
Revision as of 15:52, 17 December 2009
PF Users Navigation:
- PCB; Lifefix_users; Pf_users; benchtest_users; CalibFix Users; Hardware; Assembly ; iochan ;
- PCA : PCB ; AKENC SC/MC 218 ; FET 217 ; IMU219 ; Swifi ; Rev200_mods ; PCA Inventory
- Special Commands to the Ankle (PFCMD) : State Controller Commands; Motor Controller Commands; Python Examples; IMU Commands ;PFCMD_PY; Pf_calb_table_py; Virtual spring test; PF EEPROM
- DOC: Pf_users; Powerfoot Keyboard User Interface; Steps for Manual Tuning; "Dashboard" Program For Assisting with Tuning
- NEW (CEB) WIKI
- Torque Feedback Controller Guide
- LF: Lifefix_users; Ltf_science; lifefix_log ; Loadwasher ; Lifefix;
Dec 2009 - static test
- The backdrive motor was fixed at -11000, and the robot current was stepped with the following pattern: 0.2, -0.2, 0.4, -0.4, 0.6 amps, ..., 9, -9 amps. After the current step the system was allowed to settle. The LW was collected via RS232 - appx 87 samples averaged. This plot consists of appx 12 hrs of collection the full experiment cycled the backdrive motor from 21000 to -29000 (steps of -2000). This plot contains only the instances where the backdrive motor position == -11000. The LW (charge amp was not zeroed except at the very start of the experiment and its drift is apparent.) Ltf_matlab_source#ltf_pf_1.m
http://18.85.17.197/for_wiki/png/ltf/ltf_potential_plot_9amps_bd_m11000.png
- the BD motor was driven in the forward direction on 12-15-09 - the result was a strong dependence of force on BD position.
http://18.85.17.197/for_wiki/png/ltf/force_dependence_on_bd_posion_121509.png Ltf_matlab_source#ltf_bd_dep_1.m
early experiments
- Holding the BD motor fixed, driving the robot motor w/current mode square wave at specified frequency.
http://18.85.17.197/for_wiki/png/ltf/belt_resonance.png
- Zooming into a specific section:
http://18.85.17.197/for_wiki/png/ltf/belt_resonance_zoom.png
