24.06.17 Progress Meeting

[Woolfrey]

Chair:

@Woolfrey

Attendees:

@Woolfrey
@ssutjipto

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Announcements

Nothing to report.

Agenda

Note: Last week's actions become this week's agenda

Item	Responsible	Issue	Outcome
Test 6DOF Cartesian control	@Woolfrey	#122	Working! Need to test the case when you start in a singularity.
Continue working on dynamic control class	@ssutjipto	#117	Having problems with converting torque limits to acceleration.
Set default gains as function of control frequency	@Woolfrey @ssutjipto	#125	Still working on dynamic control algorithm.
Test default gains	@Woolfrey @ssutjipto	#125	Still working on dynamic control algorithm.

Additional Discussion

Topic	Raised By	Issue	Outcome
What's the plan for testing?	@Woolfrey	N/A	Sheila to do some quick tests with ROS1

Actions

Action	Responsible	Tag
Test case where robot starts in a singularity	@Woolfrey	To be created.
Check condition number of inertia matrix for Sawyer in singular configuration	@ssutjipto	#117
Check and close off issue #121	@Woolfrey	#121
Continue working on the ROS2 action server.	@Woolfrey	N/A

[Woolfrey]

Here's how to use the torque limits in a QP problem:

$$\boldsymbol{\tau}_\mathrm{min} \le \mathbf{M\ddot{q}} \le \boldsymbol{\tau}_\mathrm{max}$$ $$\begin{bmatrix} \mathbf{I} \\\ -\mathbf{I} \\\ \mathbf{M} \\\ -\mathbf{M} \end{bmatrix} \mathbf{\ddot{q}} < \begin{bmatrix} \mathbf{\ddot{q}}_\mathrm{max} \\\ \mathbf{\ddot{q}}_\mathrm{min} \\\ \boldsymbol{\tau}_\mathrm{max} \\\ \boldsymbol{\tau}_\mathrm{min} \end{bmatrix}$$