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POST No. 2408132
MX-106 current control
2022-06-20 11:17:24 shanghairob
Hi, Willison
I have post my question on community, but I also want to help from your perspective.
  • I am using MX-106, protocol 2.0

  • I am using labview,

  • I am using current mode to control MX-106
    Generally, I want to using current mode to control a single link, mass=0.37kg center of mass=0.12m , I want to use torque control, and compliance control.

  • one question is about N-T graph, I saw the starting point is about(0.8N.M, 0.7A), so what about the value below 0.7A, is it highly non-linear, so not shown in the N-T graph?

  • second question is about current control, for example, I calculate my link torque which created by gravity around 0.44N.M, but when I using wizard 2.0 test, only 0.068A/0.2N.M can stable my link on horizontal level to resist the 0.44N.M(from gravity), I believe I missed someting, could you share some idea?

  • third question is about current-base position contol, it can shown the compliance property, but I dont know what is inside of the current controller(current and pwm input), what is doing, could you show a little bit detail?

thanks a lot!!
Rob

2022-06-20 11:17:24
shanghairob
2022-06-24 01:40:01 AMO BIG

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2022-06-24 01:40:01
Nuch1122
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