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Use case: robot prototype #23

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olivier-stasse opened this issue May 20, 2020 · 0 comments
Open

Use case: robot prototype #23

olivier-stasse opened this issue May 20, 2020 · 0 comments

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@olivier-stasse
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In this use case, it is assumed that the user wants to:

  • Test various power electronics - and therefore can have various low level control: torque control, current control, current control + position (PD+),
  • Design its own specific transmission protocol
  • Transmit PID value computed by a Differential Dynamic Program (Gain scheduling)
  • Create complex actuator with current sensor, absolute encoder, motor encoder, temperature, IMU

The goal is to show that this does not break the ros control API.
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@olivier-stasse