Search found 14 matches

by florian_enner
Wed Feb 10, 2021 9:24 am
Forum: Actuators
Topic: how can velocity and torque controls be executed simultaneously
Replies: 1
Views: 119

Re: how can velocity and torque controls be executed simultaneously

You are right that this is an unconventional way to do it. Simultaneous control of position / velocity / torque can provide additional information to the system that can improve tracking without requiring very stiff gains. The following YouTube tutorial explains the combination in more detail: https...
by florian_enner
Fri Nov 13, 2020 3:48 am
Forum: Python
Topic: Teach_repeat armApi
Replies: 1
Views: 180

Re: Teach_repeat armApi

Can you check what version of `hebi-py` you are running? This feature was added in version 2.2.0, and I did confirm it working on the latest hebi-py 2.3.0.
by florian_enner
Fri Oct 30, 2020 8:56 am
Forum: General
Topic: video of 'Teardown: HEBI Robotics'
Replies: 2
Views: 272

Re: video of 'Teardown: HEBI Robotics'

Hi! The teardown was part of a course done at Northwestern a few years ago. I'm not aware of any videos or public material other than the pdf presentation.
by florian_enner
Fri Oct 30, 2020 8:52 am
Forum: Actuators
Topic: How to configure feed_backward in PID
Replies: 2
Views: 6660

Re: How to configure feed_backward in PID

You can "disable" the effort feedback portion by only using the FeedForward term (=1) and setting Kp,Kd,Ki to zero. This way the torque controller serves as a unit conversion from actuator specific units to Nm/rad.
by florian_enner
Fri Oct 23, 2020 5:58 am
Forum: Introductions | New user? Introduce yourself!
Topic: Hi there, I am Roy, from the Thomas More University of Applied Sciences Belgium.
Replies: 1
Views: 194

Re: Hi there, I am Roy, from the Thomas More University of Applied Sciences Belgium.

Thank you for letting us know about your project and sending images
HEBI Dynamic V3_TOP_RightView.png
HEBI Dynamic V3_TOP_RightView.png (189.08 KiB) Viewed 169 times
HEBI Dynamic V3.png
HEBI Dynamic V3.png (229.18 KiB) Viewed 169 times
by florian_enner
Sun Oct 18, 2020 10:11 pm
Forum: Python
Topic: Command Strategy in Python Script
Replies: 3
Views: 209

Re: Command Strategy in Python Script

This is likely related to the command lifetime. By default, APIs send a "life time" (a user specified timeout) of 250ms, so sending a single command would result in a small movement and almost immediately turn off. You would need to send commands in a loop. This feature prevents unpredictable/harmfu...
by florian_enner
Fri Oct 09, 2020 6:07 am
Forum: Actuators
Topic: Communication between Matlab API and Simulink
Replies: 3
Views: 300

Re: Communication between Matlab API and Simulink

Simulink targets are unfortunately really limited, so it's not possible for us to create a real Simulink API.

If you can't use an I/O board as Dave mentioned, you would need to send the Simulink data to your MATLAB instance via a UDP block.
by florian_enner
Mon Sep 14, 2020 10:00 am
Forum: MATLAB
Topic: Error in code for ex_kinematics_visualization.m
Replies: 1
Views: 228

Re: Error in code for ex_kinematics_visualization.m

I've just confirmed that the current examples master branch https://github.com/HebiRobotics/hebi-ma ... /kits/arms works for me without issues.

Is it possible that you have local modifications? Can you try checking out another (clean) copy of the examples repo and try it again?
by florian_enner
Mon Aug 31, 2020 5:31 am
Forum: Actuators
Topic: Large Error in feedback velocity and irregular feedback effort for actuator
Replies: 3
Views: 312

Re: Large Error in feedback velocity and irregular feedback effort for actuator

Hi! Sorry that you're having problems. If possible, please record a log file of the operation using Scope and share it with our support email address (support at hebirobotics.com).
by florian_enner
Wed Aug 26, 2020 4:17 am
Forum: Actuators
Topic: Command Lock X series Actuators
Replies: 2
Views: 249

Re: Command Lock X series Actuators

The lock-out gets set by APIs and is limited to maximum 5 seconds per message. You likely have some other process or other computer running that is actively sending commands to the actuators. APIs send commands with a maximum lifetime that sets an expiration time. It exists for two reasons: While a ...