Basic RT components and utilities
315.7.0
|
This component computes joint torques from joint angles.
PD gains should be specified by pdgain file. PD file should include
[Pgain_1] [Dgain_1]
...
[Pgain_N] [Dgain_N]
Here, N is the number of joints.
implementation_id | PDcontroller |
---|---|
category | example |
port name | data type | unit | description |
---|---|---|---|
angle | RTC::TimedDoubleSeq | [rad] or [m] | Actual joint angles |
angleRef | RTC::TimedDoubleSeq | [rad] or [m] | Reference joint angles |
port name | data type | unit | description |
---|---|---|---|
torque | RTC::TimedDoubleSeq | [rad] or [m] | Reference joint torques |
N/A
N/A
name | type | unit | default value | description |
---|---|---|---|---|
dt | double | 0.005 | sampling time | |
pdgains_sim.file_name | string | File path for PD gain file. |
N/A