iCub-main
gravityCompensator

Estimates the gravitational contribute to motors based on estimation of the robot dynamics. More...

+ Collaboration diagram for gravityCompensator:

Estimates the gravitational contribute to motors based on estimation of the robot dynamics.

Copyright (C) 2008 RobotCub Consortium

Author: Matteo Fumagalli

Date: first release 24/07/2010

CopyPolicy: Released under the terms of the GNU GPL v2.0.

Description

This module estimates the gravitational term acting on joints due to links weight. The estimation is perfomed relying on rigid body dynamics using CAD parameters. For further information about the use of this module and of the iCub force control interface, please refer to the force control page: http://wiki.icub.org/wiki/Force_Control

Libraries

Parameters

–rate r

–no_legs

Ports Accessed

The port the service is listening to.

Ports Created

None.

Input Data Files

None.

Output Data Files

None.

Configuration Files

None

Tested OS

Linux and Windows.

Example Instantiation of the Module

By launching the following command:

gravityCompensator

the module add offset values which are assigned to the IImpedanceControl interface and ITorqueControl interface

Author
Matteo Fumagalli

This file can be edited at src/gravityCompensator/main.cpp.