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/tn/TN_fullrange_backdrive_wmp_3amps_and_jr3.png | + | *http://18.85.17.197/for_wiki/png/ltf/tn/TN_fullrange_backdrive_wmp_3amps_and_jr3.JPG |
− | *http://18.85.17.197/for_wiki/png/ltf/tn/TN_fullrange_backdrive_wmp_3amps_zoom.png | + | [http://18.85.17.197/for_wiki/png/ltf/fullrange_backdrive_wmp_3amps_and_jr3.png] |
+ | *http://18.85.17.197/for_wiki/png/ltf/tn/TN_fullrange_backdrive_wmp_3amps_zoom.JPG | ||
+ | [http://18.85.17.197/for_wiki/png/ltf/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/tn/TN_fullrange_backdrive_vs_ak_motor_wmp_3amps_w_jr3.png | + | *http://18.85.17.197/for_wiki/png/ltf/tn/TN_fullrange_backdrive_vs_ak_motor_wmp_3amps_w_jr3.JPG |
+ | [http://18.85.17.197/for_wiki/png/ltf/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/tn/TN_fullrange_backdrive_vs_ak_motor_wmp_3amps_w_jr3_zoom.png | + | *http://18.85.17.197/for_wiki/png/ltf/tn/TN_fullrange_backdrive_vs_ak_motor_wmp_3amps_w_jr3_zoom.JPG |
+ | [http://18.85.17.197/for_wiki/png/ltf/fullrange_backdrive_vs_ak_motor_wmp_3amps_w_jr3_zoom.png] | ||
=Dec 2009 - dynamic tests = | =Dec 2009 - dynamic tests = | ||
Line 21: | Line 25: | ||
*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/tn/TN_discrete_sine_sweep_with_jr3.png | + | http://18.85.17.197/for_wiki/png/ltf/tn/TN_discrete_sine_sweep_with_jr3.JPG |
+ | [http://18.85.17.197/for_wiki/png/ltf/discrete_sine_sweep_with_jr3.png] | ||
=Dec 2009 - static test= | =Dec 2009 - static test= | ||
Line 28: | Line 33: | ||
*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/tn/TN_ltf_potential_plot_9amps_bd_m11000.png | + | http://18.85.17.197/for_wiki/png/ltf/tn/TN_ltf_potential_plot_9amps_bd_m11000.JPG |
+ | [http://18.85.17.197/for_wiki/png/ltf/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/tn/TN_force_dependence_on_bd_posion_121509.png | + | http://18.85.17.197/for_wiki/png/ltf/tn/TN_force_dependence_on_bd_posion_121509.JPG |
+ | [http://18.85.17.197/for_wiki/png/ltf/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/tn/TN_inc_mile_encoder_hist_560000.png | + | http://18.85.17.197/for_wiki/png/ltf/tn/TN_inc_mile_encoder_hist_560000.JPG |
+ | [http://18.85.17.197/for_wiki/png/ltf/inc_mile_encoder_hist_560000.png] | ||
=early experiments= | =early experiments= |
Revision as of 17:49, 19 December 2009
PF Users Navigation:
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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
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.JPG
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.JPG [5]
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.JPG [6]
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.JPG [http://18.85.17.197/for_wiki/png/ltf/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.JPG [7]
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.JPG [8]
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.JPG [9]