Difference between revisions of "Ltf science"
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*Backdrive was -31000 to +21000 (full range), robot applied either a constant +3 amps or -3 amps. This plot is versus time. JR3 data is correctly aligned with robot data. Notice that change in force reading with robot (and thus backdrive) position | *Backdrive was -31000 to +21000 (full range), robot applied either a constant +3 amps or -3 amps. This plot is versus time. JR3 data is correctly aligned with robot data. Notice that change in force reading with robot (and thus backdrive) position | ||
| − | *http://18.85.17.197/for_wiki/png/ltf/ | + | *http://18.85.17.197/for_wiki/png/ltf/tn/TN_fullrange_backdrive_wmp_3amps_and_jr3.png |
| − | *http://18.85.17.197/for_wiki/png/ltf/ | + | *http://18.85.17.197/for_wiki/png/ltf/tn/TN_fullrange_backdrive_wmp_3amps_zoom.png |
==force vs motor rotations== | ==force vs motor rotations== | ||
*Previous experiment with data ploted WRT to robot motor rotations - notice the periodic relationship in the forces wrt to motor. | *Previous experiment with data ploted WRT to robot motor rotations - notice the periodic relationship in the forces wrt to motor. | ||
| − | *http://18.85.17.197/for_wiki/png/ltf/ | + | *http://18.85.17.197/for_wiki/png/ltf/tn/TN_fullrange_backdrive_vs_ak_motor_wmp_3amps_w_jr3.png |
*Zoom into edge of above to make apparent the 0.55 motor rotation shift when robot torque current changes from +3 amps to -3 amps. | *Zoom into edge of above to make apparent the 0.55 motor rotation shift when robot torque current changes from +3 amps to -3 amps. | ||
| − | *http://18.85.17.197/for_wiki/png/ltf/ | + | *http://18.85.17.197/for_wiki/png/ltf/tn/TN_fullrange_backdrive_vs_ak_motor_wmp_3amps_w_jr3_zoom.png |
=Dec 2009 - dynamic tests = | =Dec 2009 - dynamic tests = | ||
| Line 21: | Line 21: | ||
*3 amp discrete discrete sine waves applied. This plot is versus time. | *3 amp discrete discrete sine waves applied. This plot is versus time. | ||
| − | http://18.85.17.197/for_wiki/png/ltf/ | + | http://18.85.17.197/for_wiki/png/ltf/tn/TN_discrete_sine_sweep_with_jr3.png |
=Dec 2009 - static test= | =Dec 2009 - static test= | ||
| Line 28: | Line 28: | ||
*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-2009-12-16.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-2009-12-16.m]] | ||
| − | http://18.85.17.197/for_wiki/png/ltf/ | + | http://18.85.17.197/for_wiki/png/ltf/tn/TN_ltf_potential_plot_9amps_bd_m11000.png |
==force dependence on BD position (forward BD motion)== | ==force dependence on BD position (forward BD motion)== | ||
* the BD motor was driven in the forward direction on 12-15-09 - the result was a strong dependence of force on BD position. [[Ltf_matlab_source#ltf_bd_dep-121509.m]] | * the BD motor was driven in the forward direction on 12-15-09 - the result was a strong dependence of force on BD position. [[Ltf_matlab_source#ltf_bd_dep-121509.m]] | ||
| − | http://18.85.17.197/for_wiki/png/ltf/ | + | http://18.85.17.197/for_wiki/png/ltf/tn/TN_force_dependence_on_bd_posion_121509.png |
=mile encoder study= | =mile encoder study= | ||
* Bench test with +-6 amps for 20 hrs | * Bench test with +-6 amps for 20 hrs | ||
| − | http://18.85.17.197/for_wiki/png/ltf/ | + | http://18.85.17.197/for_wiki/png/ltf/tn/TN_inc_mile_encoder_hist_560000.png |
=early experiments= | =early experiments= | ||
| Line 44: | Line 44: | ||
*Holding the BD motor fixed, driving the robot motor w/current mode square wave at specified frequency. | *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/ | + | http://18.85.17.197/for_wiki/png/ltf/tn/TN_belt_resonance.png |
== zoom in - resonance observed developing belt thrash test== | == zoom in - resonance observed developing belt thrash test== | ||
*Zooming into a specific section: | *Zooming into a specific section: | ||
| − | http://18.85.17.197/for_wiki/png/ltf/ | + | http://18.85.17.197/for_wiki/png/ltf/tn/TN_belt_resonance_zoom.png |
Revision as of 17:45, 19 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;
Contents
Dec 2009 - full range backdrive loops
time domain
- Backdrive was -31000 to +21000 (full range), robot applied either a constant +3 amps or -3 amps. This plot is versus time. JR3 data is correctly aligned with robot data. Notice that change in force reading with robot (and thus backdrive) position
- http://18.85.17.197/for_wiki/png/ltf/tn/TN_fullrange_backdrive_wmp_3amps_and_jr3.png
- http://18.85.17.197/for_wiki/png/ltf/tn/TN_fullrange_backdrive_wmp_3amps_zoom.png
force vs motor rotations
- Previous experiment with data ploted WRT to robot motor rotations - notice the periodic relationship in the forces wrt to motor.
- Zoom into edge of above to make apparent the 0.55 motor rotation shift when robot torque current changes from +3 amps to -3 amps.
- http://18.85.17.197/for_wiki/png/ltf/tn/TN_fullrange_backdrive_vs_ak_motor_wmp_3amps_w_jr3_zoom.png
Dec 2009 - dynamic tests
- 3 amp discrete discrete sine waves applied. This plot is versus time.
http://18.85.17.197/for_wiki/png/ltf/tn/TN_discrete_sine_sweep_with_jr3.png
Dec 2009 - static test
potential function @ BD -11000, sweep -9 to 9 amps (in reverse BD experiment)
- 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-2009-12-16.m
http://18.85.17.197/for_wiki/png/ltf/tn/TN_ltf_potential_plot_9amps_bd_m11000.png
force dependence on BD position (forward BD motion)
- the BD motor was driven in the forward direction on 12-15-09 - the result was a strong dependence of force on BD position. Ltf_matlab_source#ltf_bd_dep-121509.m
http://18.85.17.197/for_wiki/png/ltf/tn/TN_force_dependence_on_bd_posion_121509.png
mile encoder study
- Bench test with +-6 amps for 20 hrs
http://18.85.17.197/for_wiki/png/ltf/tn/TN_inc_mile_encoder_hist_560000.png
early experiments
resonance observed developing belt thrash test
- 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/tn/TN_belt_resonance.png
zoom in - resonance observed developing belt thrash test
- Zooming into a specific section:
http://18.85.17.197/for_wiki/png/ltf/tn/TN_belt_resonance_zoom.png
