Estimates the gravitational contribute to motors based on estimation of the robot dynamics.
Collaboration diagram for gravityCompensator:
Estimates the gravitational contribute to motors based on estimation of the robot dynamics.
Copyright (C) 2008 RobotCub Consortium
Author: Matteo Fumagalli
Date: first release 24/07/2010
CopyPolicy: Released under the terms of the GNU GPL v2.0.
Description
This module estimates the gravitational term acting on joints due to links weight. The estimation is perfomed relying on rigid body dynamics using CAD parameters. For further information about the use of this module and of the iCub force control interface, please refer to the force control page: https://icub-tech-iit.github.io/documentation/icub_force_control/icub-force-control/.
Libraries
- YARP libraries.
- iDyn library.
Parameters
–rate r
- The parameter r identifies the rate the thread will work. If not specified 20ms is assumed. The minimum suggested rate is 10ms.
–no_legs
- This option disables the gravity compensation for the legs joints.
Ports Accessed
The port the service is listening to.
Ports Created
None.
Input Data Files
None.
Output Data Files
None.
Configuration Files
None
Tested OS
Linux and Windows.
Example Instantiation of the Module
By launching the following command:
the module add offset values which are assigned to the IImpedanceControl interface and ITorqueControl interface
This file can be edited at \in src/gravityCompensator/main.cpp.
