Jul 31, 2012 , by
During the present monitoring period, the following research activities within the HUROBIN experiment were carried out:
- Low level control of the servo motors in the Simulink scheme was improved, along with S-function including communication processes using the USB-CAN interface.
- Analysis of the robotic arm’s compliance based on data from the JR3 force/torque sensor was completed. A new set of reference angles for each motor was computed using the Jacobian matrix.
Task 3 "Design and development of control strategy for the robotic platform" represent an ongoing activity aimed at achieving Milestone M3 “Implementation of a control strategy for the cooperative task” which will be presumably achieved on month 42. Task 6 "Dissemination" represents an ongoing research activity as well.