PR2 Arm Control - Revision history

Cckemp: /* Low-level Controllers */

2011-07-13T18:31:09Z

‎Low-level Controllers

2011-07-13T18:28:59Z

‎Low-level Controllers

2011-07-13T18:28:00Z

‎Low-level Controllers

2011-07-13T18:27:17Z

‎Low-level Controllers

2011-07-13T18:27:01Z

‎Low-level Controllers

2011-07-13T18:23:03Z

‎Low-level Controllers

2011-07-13T18:22:20Z

‎Low-level Controllers

2011-07-13T18:19:02Z

‎Low-level Controllers

2011-07-13T18:18:15Z

‎Low-level Controllers

2011-07-13T18:17:30Z

‎Low-level Controllers

@@ Line 95: / Line 95: @@
 | {{no}} || {{no}} || {{no}} || {{no}} || {{no}}
 |-
-! scope="row" | Works well with low stiffness
+! scope="row" | Performance with low stiffness
 | || || || ||
 |-

@@ Line 94: / Line 94: @@
 ! scope="row" | Supports collision detection?
 | {{no}} || {{no}} || {{no}} || {{no}} || {{no}}
 |-
 ! scope="row" | Pros

@@ Line 91: / Line 91: @@
 ! scope="row" | Monitors torque at each joint and softly scales the entire torque vector (saturation)
 | {{no}} || {{yes}} || {{yes}} || {{no}} || {{no}}
 |-
 ! scope="row" | Pros

@@ Line 38: / Line 38: @@
 |-
 ! scope="row" | Requires IK solutions?
-| {{yes}} || {{no}} || {{no}} || {{no}} || {{maybe}}
+| {{no}} || {{no}} || {{no}} || {{no}} || {{no}}
 |-
 ! scope="row" | ROS Interface

@@ Line 36: / Line 36: @@
 ! scope="row" | Control reference (the goal the controller is trying to achieve)
 | joint angles || Cartesian pose of rigid transformation from end effector frame || Cartesian pose of rigid transformation from end effector frame || Cartesian pose of rigid transformation from end effector frame || Cartesian frame attached to end effector with origin at wrist
 |-
 ! scope="row" | ROS Interface

@@ Line 86: / Line 86: @@
 | {{no}} || {{yes}} || {{yes}} || {{no}}, not implemented yet || {{no}}
 |-
-! scope="row" | Monitors torque at each joint and softly scales (saturation)
+! scope="row" | Monitors torque at each joint and softly scales the entire torque vector (saturation)
 | {{no}} || {{yes}} || {{yes}} || {{no}} || {{no}}
 |-

@@ Line 83: / Line 83: @@
 | {{yes}} || {{no}} || {{no}} || {{no}} || {{no}}
 |-
-! scope="row" | Cartesian Velocity Saturation
+! scope="row" | Monitors Cartesian velocity and softly scales it (saturation)
 | {{no}} || {{yes}} || {{yes}} || {{no}}, not implemented yet || {{no}}
 |-
-! scope="row" | Torque Saturation
+! scope="row" | Monitors torque at each joint and softly scales (saturation)
 | {{no}} || {{yes}} || {{yes}} || {{no}} || {{no}}
 |-

@@ Line 77: / Line 77: @@
 | {{yes}} || {{no}} || {{no}} || {{no}} || {{maybe}}
 |-
-! scope="row" | Change Gains on the Fly
+! scope="row" | Change Gains while the controller is running (through topic)
 | {{no}} || {{yes}} || {{yes}} || {{no}} || {{yes}}, if using impedance control
 |-

@@ Line 75: / Line 75: @@
 |-
 ! scope="row" | Can provide trajectory as sequence of reference points, velocities, and durations, which it then uses to generate way points (rather than only a single reference)
-| {{yes}} || {{no}} || {{no}} || {{no}} || {{yes}}
+| {{yes}} || {{no}} || {{no}} || {{no}} || {{maybe}}
 |-
 ! scope="row" | Change Gains on the Fly

@@ Line 74: / Line 74: @@
 * Door opening (not smoothly)
 |-
-! scope="row" | Specify Trajectory
+! scope="row" | Can provide trajectory as sequence of reference points, velocities, and durations, which it then uses to generate way points (rather than only a single reference)
 | {{yes}} || {{no}} || {{no}} || {{no}} || {{yes}}
 |-