Sensorless torque estimation added to motor control #527
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Hi @ale-git This PR has to be updated following up on the most recent developments done in robotology/icub-firmware-models#97. Also, conflicts need attention. |
marcoaccame
reviewed
Nov 8, 2024
| @@ -138,6 +138,12 @@ void JointSet_config // | |||
| o->Jjm = Jjm; o->Sjm = Sjm; | |||
| o->Jmj = Jmj; o->Smj = Smj; | |||
| o->Sje = Sje; | |||
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| #if defined(SENSORLESS_TORQUE) | |||
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Hi @ale-git what about making SENSORLESS_TORQUE a bool param transmitted by YRI? does it make sense?
If so, where to add it, maybe inside eOmc_LuGre_params_t?
Moreover eval if eOmc_LuGre_params_t is best placed inside eOmc_joint_config_t or eOmc_motor_config_t.
Then it will be function MController_config_motor() or MController_config_motor() that will manage the eOmc_LuGre_params_t.
Some of the above changes need a change of icub-firmware-shared as well.
marcoaccame
reviewed
Nov 8, 2024
emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
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Hi @ale-git pls see my previous comments and when ready mark the PR ready for review. |
marcoaccame
reviewed
Nov 18, 2024
| @@ -340,7 +340,7 @@ | |||
| <MiscControls>-DxdebugNOicc -DxYRI_uses_MC_foc_actuator_descriptor_generic -DxuseMCfoc_actuator_descriptor_generic -Wno-pragma-pack -Wno-deprecated-register -DEMBOT_USE_rtos_osal -DIPAL_use_cfg2 -DUSE_EMBOT_theHandler -DUSE_EMBOT_theServices -DUSE_EMBOT_theServicesMC</MiscControls> | |||
| <Define>USE_ICC_COMM USE_EMBOT_HW EMBOBJ_USE_EMBOT USE_STM32HAL STM32HAL_BOARD_AMC STM32HAL_DRIVER_V1A0 WRIST_MK2</Define> | |||
| <Undefine></Undefine> | |||
| <IncludePath>..\..\..\..\..\libs\lowlevel\stm32hal\api;..\..\..\..\..\libs\highlevel\abslayer\osal\api;..\..\..\..\..\..\..\..\..\icub-firmware-shared\embot\core;..\..\..\..\..\embot\hw;..\..\..\..\..\embot\os;..\..\..\..\..\embot\app;..\..\..\..\..\libs\midware\eventviewer\api;..\..\..\..\..\libs\highlevel\abslayer\ipal\api;--..\..\..\..\..\libs\highlevel\abslayer\hal2\api;..\..\..\..\..\..\..\..\..\icub-firmware-shared\eth\embobj\core\core;..\..\..\..\..\embobj\core\exec\multitask;..\..\..\..\..\embobj\plus\ipnet;..\src\emb-env;..\..\..\..\..\..\..\..\..\icub-firmware-shared\embot\prot\eth;..\..\..\bsp;..\cfg;..\..\..\bsp\ethdriver;..\..\..\..\..\libs\highlevel\services\embenv\api;..\..\..\..\..\embobj\plus\embenv;..\..\..\..\..\libs\highlevel\abslayer\hal2\api;..\..\..\..\..\embobj\plus\ctrloop;..\..\..\..\..\..\..\..\..\icub-firmware-shared\eth\embobj\plus\comm-v2\icub;..\..\..\..\..\..\..\..\..\icub-firmware-shared\can\canProtocolLib;..\..\..\..\..\embot\app\eth;.;..\..\..\..\..\..\..\..\..\icub-firmware-shared\eth\embobj\plus\comm-v2\transport;..\..\..\..\..\..\..\..\..\icub-firmware-shared\eth\embobj\plus\comm-v2\protocol\api;..\cfg\protocol\rop;..\..\..\..\..\embobj\plus\can;..\..\..\..\ems004\appl\v2\src\eoappservices;..\..\..\..\..\embobj\plus\board;..\..\..\..\..\..\..\..\..\icub-firmware-shared\embot\tools;..\..\..\..\..\mbd\kalman_filter;..\..\..\..\..\embobj\plus\mc;..\..\..\..\..\libs\midware\hl-plus\api;..\..\..\..\..\embot\prot\can;..\..\..\..\..\mbd\wrist_decoupler</IncludePath> | |||
| <IncludePath>..\..\..\..\..\libs\lowlevel\stm32hal\api;..\..\..\..\..\libs\highlevel\abslayer\osal\api;..\..\..\..\..\..\..\..\..\icub-firmware-shared\embot\core;..\..\..\..\..\embot\hw;..\..\..\..\..\embot\os;..\..\..\..\..\embot\app;..\..\..\..\..\libs\midware\eventviewer\api;..\..\..\..\..\libs\highlevel\abslayer\ipal\api;--..\..\..\..\..\libs\highlevel\abslayer\hal2\api;..\..\..\..\..\..\..\..\..\icub-firmware-shared\eth\embobj\core\core;..\..\..\..\..\embobj\core\exec\multitask;..\..\..\..\..\embobj\plus\ipnet;..\src\emb-env;..\..\..\..\..\..\..\..\..\icub-firmware-shared\embot\prot\eth;..\..\..\bsp;..\cfg;..\..\..\bsp\ethdriver;..\..\..\..\..\libs\highlevel\services\embenv\api;..\..\..\..\..\embobj\plus\embenv;..\..\..\..\..\libs\highlevel\abslayer\hal2\api;..\..\..\..\..\embobj\plus\ctrloop;..\..\..\..\..\..\..\..\..\icub-firmware-shared\eth\embobj\plus\comm-v2\icub;..\..\..\..\..\..\..\..\..\icub-firmware-shared\can\canProtocolLib;..\..\..\..\..\embot\app\eth;.;..\..\..\..\..\..\..\..\..\icub-firmware-shared\eth\embobj\plus\comm-v2\transport;..\..\..\..\..\..\..\..\..\icub-firmware-shared\eth\embobj\plus\comm-v2\protocol\api;..\cfg\protocol\rop;..\..\..\..\..\embobj\plus\can;..\..\..\..\ems004\appl\v2\src\eoappservices;..\..\..\..\..\embobj\plus\board;..\..\..\..\..\..\..\..\..\icub-firmware-shared\embot\tools;..\..\..\..\..\mbd\kalman_filter;..\..\..\..\..\embobj\plus\mc;..\..\..\..\..\libs\midware\hl-plus\api;..\..\..\..\..\embot\prot\can;..\..\..\..\..\mbd\wrist_decoupler;..\..\..\..\..\mbd\torque_estimator</IncludePath> | |||
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Just a clarification: the project of the amc in here contains TorqueEstimator.cpp but it does not use it because SENSORLESS_TORQUE is not defined. It can be OK.
marcoaccame
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Nov 18, 2024
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Added LuGre friction model for sensorless torque estimation. Built on - robotology/icub-firmware#527 - robotology/icub-firmware-shared#99
And alternative experimental torque control function is added in Motor.c
- LuGre model configuration moved to motor configuration - callbacks for independent configuration removed Coupled jointset management.
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I've rebased and updated the version, ready for merge. |
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Hi @marcoaccame |
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The sensorless torque estimation is based on LuGre friction model, with code automatically generated.