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POST No. 2408135
desired position trajectory and desired velocity trajectory
2022-07-12 10:08:08 shanghairob

Hi, Wilison,


there is a question about desired position trajectory,  I understand when I go position, the desired trajectory will created


my question:: 

how about the trajectory, this is a discrete trajectory?

how often or how frequency one point of trajectory send to PID controller?


thanks 

2022-07-12 10:08:08
shanghairob
2022-07-19 11:28:36 Will Son

Hi,


Could you elaborate more about what the discrete trajectory is?

The position trajectory works based on the absolute position encoder.

The frequency is identical to the internal algorithm loop of DYNAMIXEL which is not disclosed, but usually it is higher than 1Khz.


Thanks!

2022-07-19 11:28:36
willson
2022-07-25 10:45:00 rob

Hi, Willson, thanks for your replay. the discrete trajectory means: when trajectory send to controller, which is not continuous, should be discrete points( ex 0.1s 1degree, 0.2s 2 degree). please correct me if my understand is wrong. my the question is how often I should send trajectory point to controller?


there is another question what I faced in real coding with labview, I designed controller by myself based on the position, and velocity feedback block which provide by dynamixel. 

but I measured the time period about run position and velocity feedback loop, it tooks around 50 ms, so I think it will affect my real time control, is it right?

please correct me if my understand is wrong.


thanks   

2022-07-25 10:45:00
shanghairob
2022-07-26 10:28:18 rob

Hi, Willson, thanks for your replay. the discrete trajectory means: when trajectory send to controller, which is not continuous, should be discrete points( ex 0.1s 1degree, 0.2s 2 degree). please correct me if my understand is wrong. my the question is how often I should send trajectory point to controller?


there is another question what I faced in real coding with labview, I designed controller by myself based on the position, and velocity feedback block which provide by dynamixel. 

but I measured the time period about run position and velocity feedback loop, it tooks around 50 ms, so I think it will affect my real time control, is it right?

please correct me if my understand is wrong.


thanks   

2022-07-26 10:28:18
shanghairob
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