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