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sawControllersPID-PSM1-new-limits.xml
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sawControllersPID-PSM1-new-limits.xml
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<?xml version="1.0" encoding="utf-8" ?>
<controller type="PID"
interface="JointTorqueInterface"
numofjoints="7">
<joints>
<joint index="0" name="outer_yaw" type="Revolute">
<pid PGain="100.0" DGain="3.0" IGain="0.0" OffsetTorque="0.0" Forget="1.0" Nonlinear="0.0"/>
<limit MinILimit="-20" MaxILimit="20" ErrorLimit="0.5" Deadband="0.0" Units="rad"/>
<pos LowerLimit="-91.0" UpperLimit="91.0" Units="deg"/>
</joint>
<joint index="1" name="outer_pitch" type="Revolute">
<pid PGain="100.0" DGain="3.0" IGain="0.0" OffsetTorque="0.0" Forget="1.0" Nonlinear="0.0"/>
<limit MinILimit="-20" MaxILimit="20" ErrorLimit="0.5" Deadband="0.0" Units="rad"/>
<pos LowerLimit="-91.0" UpperLimit="91.0" Units="deg"/>
</joint>
<joint index="2" name="outer_insertion" type="Prismatic">
<pid PGain="6000.0" DGain="80.0" IGain="0.0" OffsetTorque="0.0" Forget="1.0" Nonlinear="0.0"/>
<limit MinILimit="-20" MaxILimit="20" ErrorLimit="0.5" Deadband="0.0" Units="rad"/>
<pos LowerLimit="0.0" UpperLimit="320.0" Units="mm"/>
</joint>
<joint index="3" name="outer_roll" type="Revolute">
<pid PGain="4.0" DGain="0.03" IGain="0.002" OffsetTorque="0.0" Forget="1.0" Nonlinear="0.0"/>
<limit MinILimit="-10" MaxILimit="10" ErrorLimit="0.5" Deadband="0.0" Units="rad"/>
<pos LowerLimit="-360.0" UpperLimit="360.0" Units="deg"/>
</joint>
<joint index="4" name="outer_wrist_pitch" type="Revolute">
<pid PGain="4.0" DGain="0.03" IGain="0.002" OffsetTorque="0.0" Forget="1.0" Nonlinear="0.0"/>
<limit MinILimit="-5" MaxILimit="5" ErrorLimit="0.5" Deadband="0.0" Units="rad"/>
<pos LowerLimit="-175.0" UpperLimit="175.0" Units="deg"/>
</joint>
<joint index="5" name="outer_wrist_yaw" type="Revolute">
<pid PGain="4.0" DGain="0.03" IGain="0.002" OffsetTorque="0.0" Forget="1.0" Nonlinear="0.0"/>
<limit MinILimit="-5" MaxILimit="5" ErrorLimit="0.5" Deadband="0.0" Units="rad"/>
<pos LowerLimit="-175.0" UpperLimit="175.0" Units="deg"/>
</joint>
<joint index="6" name="jaw" type="Revolute">
<pid PGain="4.0" DGain="0.03" IGain="0.002" OffsetTorque="0.0" Forget="1.0" Nonlinear="0.0"/>
<limit MinILimit="-5" MaxILimit="5" ErrorLimit="0.5" Deadband="0.0" Units="rad"/>
<pos LowerLimit="-175.0" UpperLimit="175.0" Units="deg"/>
</joint>
</joints>
</controller>