35 lines
1.5 KiB
YAML
35 lines
1.5 KiB
YAML
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# Copyright 2025 Enactic, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ---------------------------------------------------------
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# Shared gains:
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# • Kp/Kd are shared between bilateral and unilateral control.
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# • Increasing Kp/Kd makes contact feel more "real" but also heavier.
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#
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# Friction model (tanh):
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# τ_fric(ω) = Fo + Fv·ω + Fc·tanh(k·ω)
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# Fc : Coulomb friction magnitude [Nm]
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# k : tanh steepness near zero velocity
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# Fv : Viscous friction coefficient [Nm·s/rad]
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# Fo : Constant bias/offset torque [Nm]
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# -------------------------------------------------------
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FollowerArmParam:
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Kp: [240.0, 240.0, 240.0, 240.0, 24.0, 31.0, 25.0, 16.0]
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Kd: [3.0, 3.0, 3.0, 3.0, 0.2, 0.2, 0.2, 0.2]
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Fc: [0.306, 0.306, 0.40, 0.166, 0.050, 0.093, 0.172, 0.0512]
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k: [28.417, 28.417, 29.065, 130.038, 151.771, 242.287, 7.888, 4.000]
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Fv: [0.063, 0.0630, 0.604, 0.813, 0.029, 0.072, 0.084, 0.084]
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Fo: [0.088, 0.088, 0.008, -0.058, 0.005, 0.009, -0.059, -0.050]
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