Basic RT components and utilities  315.7.0

Overview

This component computes joint torques from joint angles.

PD gains

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_idPDcontroller
categoryexample

Data Ports

Input Ports

port namedata typeunitdescription
angleRTC::TimedDoubleSeq[rad] or [m]Actual joint angles
angleRefRTC::TimedDoubleSeq[rad] or [m]Reference joint angles

Output Ports

port namedata typeunitdescription
torqueRTC::TimedDoubleSeq[rad] or [m]Reference joint torques

Service Ports

Service Providers

N/A

Service Consumers

N/A

Configuration Variables

nametypeunitdefault valuedescription
dtdouble0.005sampling time
pdgains_sim.file_namestringFile path for PD gain file.

Configuration File

N/A