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verified publisher icon berkeleyopenarms

(WIP) Velocity softstop

Open wuphilipp opened this issue 6 years ago • 2 comments

  • Added damped soft stops as per request. https://github.com/berkeleyopenrobotics/blue_core/issues/43#issue-418125619
    • Applies damping if the joint is within the toleranced region or moving away from the joint limit.
  • Added softstop gains per joint to allow for finer tuning of soft stop behavior at each joint.

wuphilipp avatar Mar 11 '19 18:03 wuphilipp

@dgealy @brentyi please review / test / offer suggestions.

wuphilipp avatar Mar 11 '19 18:03 wuphilipp

When are you available to review? I'm free all day today

On Mon, Mar 11, 2019 at 11:59 AM wuphilipp [email protected] wrote:

@dgealy https://github.com/dgealy @brentyi https://github.com/brentyi please review / test / offer suggestions.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/berkeleyopenrobotics/blue_core/pull/44#issuecomment-471676266, or mute the thread https://github.com/notifications/unsubscribe-auth/AOkG7shrpIhf6OidsJAQR4uTWVa0xyUEks5vVqeWgaJpZM4bpVcM .

-- David Gealy Graduate Student, Mechanical Engineering University of California Berkeley [email protected] 805-540-1451

dgealy avatar Mar 11 '19 21:03 dgealy