Feature #2350

Add MotorCurrents type

Added by C. Emmerich over 8 years ago. Updated over 8 years ago.

Status:ResolvedStart date:07/22/2015
Priority:NormalDue date:
Assignee:J. Wienke% Done:

100%

Category:Type Proposal
Target version:Robotics Service Bus - rsb-0.13

Description

Plz add MotorCurrents type to sandbox. Thx

0001-added-new-type-MotorCurrents-to-dynamics-package-of-.patch Magnifier (1.02 KB) C. Emmerich, 07/22/2015 08:24 PM

Associated revisions

Revision b706783f
Added by Sebastian Wrede over 8 years ago

Added new type MotorCurrents to dynamics package of sandbox

fixes #2350

Signed-off-by: Johannes Wienke <>

History

#1 Updated by J. Wienke over 8 years ago

Formally, the type looks good. But I am not sure about the chosen package. Is there any reference that motor currents are part of the dynamic model of a robot?

#2 Updated by C. Emmerich over 8 years ago

Actually we were wondering too.
  • From a systems point of view, this is just a status of a robot's joint such as position, temperature, etc. We didnt find a proper package for that kind of status reports.
  • From a control theory point of view, motor currents can be used to estimate joint torques and end-effector forces, see e.g. here, which we actually want to do. Hence, they relate to the dynamics model of a robot the same way joint torques do. That's why we put it there.

But we are open for further discussions or proposals :D

#3 Updated by J. Wienke over 8 years ago

I am not sure about this. Jan, Arne, any ideas?

#4 Updated by J. Wienke over 8 years ago

@Jan?

#5 Updated by J. Moringen over 8 years ago

Putting the type into dynamics may be the pragmatic solution.

#6 Updated by J. Wienke over 8 years ago

  • Status changed from New to In Progress
  • Assignee set to J. Wienke
  • Target version set to rsb-0.13

#7 Updated by Anonymous over 8 years ago

  • Status changed from In Progress to Resolved
  • % Done changed from 0 to 100

#8 Updated by J. Wienke over 8 years ago

How did you manage to become Sebastian in the git commit message? Someone should check his git settings ;)

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