Difference between revisions of "PR2 Arm Control"

Revision as of 00:16, 30 June 2011

Controller	Joint Spline Trajectory Controller	JTranspose Controller	JTranspose Task Controller	JInverse Controller	End Effector Cartesian Impedance Control
Designer	Stuart Glaser	Stuart Glaser	Adam Leeper	Stuart Glaser	MIT
Control Type	Joint space	Cartesian Space	Cartesian Space	Cartesian Space	Cartesian Space
Interfaces	Actionlib Command topic	Command topic	Command topic	Command topic	Actionlib Command topic
Demonstrated Tasks	Planning and manipulation stack Scratch approach ver. 1 Trajectory playback Overhead grasping	Lightswitch Interactive grasping THEP remote control Door opening	Invisible surface		Sweeping with broom Brushing on table Writing with pencil Flipping pages in a book Cutting a cake Door opening (not smoothly)
Specify Trajectory	Yes	No	No	No	Yes
Change Gains on the Fly	No	Yes	Yes	No	Yes, if using impedance control
Integral Control	Yes	No	No	No	No
Cartesian Velocity Saturation	No	Yes	Yes	No, not implemented yet	No
Torque Saturation	No	Yes	Yes	No	No
Notes	Waypoints are smoothly interpolated between using splines. Commands can be sent to the controller to be executed in the future.				Each point in the trajectory is alternatively an impedance vector or a force. The derivative term is not implemented.

@@ Line 55: / Line 55: @@
 |-
 ! scope="row" | Change Gains on the Fly
-| {{no}} || {{yes}} || {{yes}} || {{no}} || {{yes}}
+| {{no}} || {{yes}} || {{yes}} || {{no}} || {{yes}}, if using impedance control
 |-
 ! scope="row" | Integral Control
 | {{yes}} || {{no}} || {{no}} || {{no}} || {{no}}
+|-
+! scope="row" | Cartesian Velocity Saturation
+| {{no}} || {{yes}} || {{yes}} || {{no}}, not implemented yet || {{no}}
+|-
+! scope="row" | Torque Saturation
+| {{no}} || {{yes}} || {{yes}} || {{no}} || {{no}}
+|-
+! scope="row" | Notes
+||
+* Waypoints are smoothly interpolated between using splines.
+* Commands can be sent to the controller to be executed in the future.
+||
+||
+||
+||
+* Each point in the trajectory is alternatively an impedance vector or a force.
+* The derivative term is not implemented.
 |}