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POST No. 2408142
MX-64 detailed about position and velocity profile
2022-08-18 10:03:52 shanghairob

image 


Hi, Willison,  


The pic is what I did for my own trajectory planner and PID controller. I am using Labview and using Dynamixel SDK protocol 2.0.

I am try to use my own joint trajectory planner + pid controller to replace the dynamixel control algorithm. 


There are some confusion points during time setting.

as my understanding, there are two different time gap setting.

1. the time gap which I release each the reference position to controller.

2. the PID control time in each control loop. with the pos feeback time in each time reading the encoding. 

  • **how could I set the each release trajectory points gap time, according to control loop time?
  •  how does the dyanmxiel internal setting for release reference position?
thanks 


2022-08-18 10:03:52
shanghairob
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