Search found 9 matches

by QiangPITT
Tue Aug 24, 2021 2:49 pm
Forum: Actuators
Topic: X8-16 backdrivability
Replies: 7
Views: 52583

Re: X8-16 backdrivability

Hello everyone, I also meet one issue that the power source automatically shut down (the indicator is not on) during the motor running. This issue happens when I generate a high impact between the environment and the motor when the motor is running in a speed control mode before the impact and torqu...
by QiangPITT
Fri Aug 20, 2021 10:01 am
Forum: Actuators
Topic: X8-16 backdrivability
Replies: 7
Views: 52583

Re: X8-16 backdrivability

Hi Dave,

Many thanks to your suggestions. I believe this will definitely help a lot. I will follow your guidance to play with those gains.

Best regards,
Qiang
by QiangPITT
Fri Aug 20, 2021 1:00 am
Forum: Actuators
Topic: X8-16 backdrivability
Replies: 7
Views: 52583

Re: X8-16 backdrivability

Hi Kamal, :P Thanks so much for your throughout explanation. According to your suggestions, I was able to run the motor with 0 torque, and the exoskeleton became more complaint. However, I held the output side of the cable and try to rotate the motor and I still need about 1.5 Nm torque (feedback fr...
by QiangPITT
Wed Aug 18, 2021 3:00 pm
Forum: Actuators
Topic: X8-16 backdrivability
Replies: 7
Views: 52583

X8-16 backdrivability

Hi Everyone, :D Would you please provide me some suggestions to make the actuator X8-16 backdrivable? I designed a cable-driven exoskeleton actuated by X8-16, and the endeffector is attached on the human ankle joint. However, when I powered the motor on, the impedance of the motor is so high as to I...
by QiangPITT
Tue Jan 26, 2021 12:18 am
Forum: Actuators
Topic: Control strategy 4 implementation
Replies: 4
Views: 17568

Re: Control strategy 4 implementation

All the strategies can be used with trajectory tracking, or individually for position / velocity / torque, or any combination of the two. By my (probably limited) understanding, Strategy 4 is doing impedance control at the joint level based on commanded positions. The P and D gains are a spring and...
by QiangPITT
Tue Oct 06, 2020 7:59 pm
Forum: Actuators
Topic: Communication between Matlab API and Simulink
Replies: 3
Views: 8820

Re: Communication between Matlab API and Simulink

Thanks a lot. This demo is really interesting and helpful. Here is one of my another question: I am using the SpeedGoat target machine (running in Simulink) to collect EMG data and joint encoder data, and in order to control the motor in real-time, I need to transfer the live sensor data from Simuli...
by QiangPITT
Tue Oct 06, 2020 7:50 pm
Forum: Actuators
Topic: Control strategy 4 implementation
Replies: 4
Views: 17568

Re: Control strategy 4 implementation

:D :D :D Those replies are really helpful.
Thank you so much.
by QiangPITT
Thu Oct 01, 2020 10:28 am
Forum: Actuators
Topic: Communication between Matlab API and Simulink
Replies: 3
Views: 8820

Communication between Matlab API and Simulink

Hello! Could you offer me some suggestions to get other sensor measures into the Matlab API control loop for real-time control? Like how to feedback EMG data to design the X-series motor controller. I know all the X-series motor control and feedback are within the same Matlab code, which is not appl...
by QiangPITT
Thu Oct 01, 2020 10:19 am
Forum: Actuators
Topic: Control strategy 4 implementation
Replies: 4
Views: 17568

Control strategy 4 implementation

1. I checked the control section, and I am wondering what is the basic Matlab API example for strategy 4? I know there is an example zip folder on the website for x-series_actuator, but could you please tell me if I need to modify the code inside to realize the strategy 4? 2. strategy 4 is specifica...