Adding acceleration feedback for stability

RB1000, VS-H8PWM28V2 controller, DSR and RDS servos
3 postsPage 1 of 1
3 postsPage 1 of 1

Adding acceleration feedback for stability

Post by Ray » Sun Nov 29, 2009 5:51 am

Post by Ray
Sun Nov 29, 2009 5:51 am

Having a look of Mr.Yhshimura's latest video for stability, I try a bit using the acceleration sensor as a stability component.

The result is not so satisfactory anyway.

phpBB [media]


originally hope to make a opposition direction for inclination, but this make a lot of noise, a gain calculation or a noise immunity problem ?

But the most important thing is that the RBS58x series servo motor is seriously subject to oscillation. There is no adjustment of Pulse Strength like Kondo does :x
Hence, everytime it give out largest slope of gain even at the final requested position. :cry:

Mechanical damping can be used to the servos, but not efficient!

If the VS-RC003 can adopt the Kondo servo with Feekback function ..... :roll:
Having a look of Mr.Yhshimura's latest video for stability, I try a bit using the acceleration sensor as a stability component.

The result is not so satisfactory anyway.

phpBB [media]


originally hope to make a opposition direction for inclination, but this make a lot of noise, a gain calculation or a noise immunity problem ?

But the most important thing is that the RBS58x series servo motor is seriously subject to oscillation. There is no adjustment of Pulse Strength like Kondo does :x
Hence, everytime it give out largest slope of gain even at the final requested position. :cry:

Mechanical damping can be used to the servos, but not efficient!

If the VS-RC003 can adopt the Kondo servo with Feekback function ..... :roll:
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Post by kif » Sun Nov 29, 2009 12:05 pm

Post by kif
Sun Nov 29, 2009 12:05 pm

Hi ray:

this is the work autobalance Rb2000 from Anaheim :

CN1-5 (04) de la cheville PITCH + [-32700] * Van [70] * Vbn [251] [toujours activé]
CN2-5 (10) L'axe de la cheville PITCH + [32700] * Van [70] * Vbn [251] [toujours activé]


and the motion with new variable :

_MOTION_FORMAT:[ POSEDEF_V1R4 ]
_ENABLE_AXIS:[62]

_MOTION_INFO:[[]]-[70]-[10]-[6]-[6]-[3]-[-1]
_STARTMOT:

_MOTION_INFO:[[]]-[110]-[530]-[6]-[6]-[-1]-[-1]
_ENDMOT:

_MOTION_INFO:[[POSE 0]]-[110]-[460]-[6]-[6]-[1]-[1]
_POSE:[1]-[0X0000,0x2652,0X0000,0xbbe0,0x0000,0x0000,0X0000,0xd9ae,0X0000,0x4420,0x0000,0x0000,0xddf0,0x1dce,0X0000,0X0000,0X0000,0X0000,0x2210,0xe232,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0x0000,0X0000,0X0000,0X0000,0x0000,0x0080,0x0100,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0x0000,0x0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0x0000,0x0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000]-[[]]-[000000000000000000000000000000]

_MOTION_INFO:[[IF:アナログ入力ON?]]-[60]-[50]-[74]-[23]-[4]-[6]
_MIF:[4]-[250]-[1]

_MOTION_INFO:[[加減算変数をクリア]]-[266]-[319]-[6]-[6]-[2]-[-1]
_VARCON:[0]-[70]-[0]

_MOTION_INFO:[[加速度センサー値を加算]]-[80]-[370]-[6]-[6]-[2]-[-1]
_VARVAR:[1]-[70]-[130]

_MOTION_INFO:[[IF:前に倒れ過ぎ]]-[80]-[110]-[31]-[46]-[7]-[4]
_MIF:[1]-[130]-[500]

_MOTION_INFO:[[IF:後に倒れ過ぎ]]-[90]-[170]-[41]-[14]-[5]-[4]
_MIF:[2]-[130]-[-500]
Hi ray:

this is the work autobalance Rb2000 from Anaheim :

CN1-5 (04) de la cheville PITCH + [-32700] * Van [70] * Vbn [251] [toujours activé]
CN2-5 (10) L'axe de la cheville PITCH + [32700] * Van [70] * Vbn [251] [toujours activé]


and the motion with new variable :

_MOTION_FORMAT:[ POSEDEF_V1R4 ]
_ENABLE_AXIS:[62]

_MOTION_INFO:[[]]-[70]-[10]-[6]-[6]-[3]-[-1]
_STARTMOT:

_MOTION_INFO:[[]]-[110]-[530]-[6]-[6]-[-1]-[-1]
_ENDMOT:

_MOTION_INFO:[[POSE 0]]-[110]-[460]-[6]-[6]-[1]-[1]
_POSE:[1]-[0X0000,0x2652,0X0000,0xbbe0,0x0000,0x0000,0X0000,0xd9ae,0X0000,0x4420,0x0000,0x0000,0xddf0,0x1dce,0X0000,0X0000,0X0000,0X0000,0x2210,0xe232,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0x0000,0X0000,0X0000,0X0000,0x0000,0x0080,0x0100,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0x0000,0x0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0x0000,0x0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000,0X0000]-[[]]-[000000000000000000000000000000]

_MOTION_INFO:[[IF:アナログ入力ON?]]-[60]-[50]-[74]-[23]-[4]-[6]
_MIF:[4]-[250]-[1]

_MOTION_INFO:[[加減算変数をクリア]]-[266]-[319]-[6]-[6]-[2]-[-1]
_VARCON:[0]-[70]-[0]

_MOTION_INFO:[[加速度センサー値を加算]]-[80]-[370]-[6]-[6]-[2]-[-1]
_VARVAR:[1]-[70]-[130]

_MOTION_INFO:[[IF:前に倒れ過ぎ]]-[80]-[110]-[31]-[46]-[7]-[4]
_MIF:[1]-[130]-[500]

_MOTION_INFO:[[IF:後に倒れ過ぎ]]-[90]-[170]-[41]-[14]-[5]-[4]
_MIF:[2]-[130]-[-500]
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Post by Ray » Sun Nov 29, 2009 3:43 pm

Post by Ray
Sun Nov 29, 2009 3:43 pm

Thanks, Kif

I all analyize and think about it :wink:

Cheer,

Ray.
Thanks, Kif

I all analyize and think about it :wink:

Cheer,

Ray.
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