Current Work

1
Current Work

• Trip to Barrett
• Hand is fine, lubricated and sounding better.
• Arm difficult to diagnose, cables feel a little
  tight, pucks drawing excessive current. Recabled
  joint 4 and replaced optical encoders with
  magnetic ones.
• Needed to ship them our old pendants so they
  could run the WAM.
• Estimate for Truss
• 1034. Emailed facilities to get the itemized
  estimate.
• Option to use trusses as legs, with Barb's
  aluminum rods. Too low for WAM?
• Work on Controller
• Coming along well, talked to Binh about making a
  modular design that he can plug his simulation
  into (UDP)
• Java controller is now receiving feedback packets
  as well
• Worked on hand kinematics, PID now using radians
  instead of counts
• Combined GUI and Simulink into one for hand/arm,
  very intuitive

2
What's Next

• Need to get the arm back and find some good
  gains. Hopefully they get rid of the friction.
• Integrate blending into the trajectory points so
  we get smooth velocity/acceleration. Having some
  trouble with this...
• Suggestions for work until WAM comes back?
• Grasping Experiments