sot-torque-control  1.6.5
Collection of dynamic-graph entities aimed at implementing torque control on different robots.
Namespaces
dynamicgraph Namespace Reference

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Namespaces

 sot
 

Detailed Description

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i = Kt*tau + Kv*dq + Ka*ddq + sign(dq)Kf tau = i/Kt - (Kv/Kt)*dq - (Ka/Kt)*ddq - sign(dq)(Kf/Kt)