Main features:
Compute Motor Torque References:
InputARMin block)Compute Reaction Torque Observer (not sure about the purpose, is this used?)
Saturate Motor Torque References and feed them to the OutputARMin block
This sub-block computes the weight compensation torques and performs a weight compensation estimation procedure (now by-passed with a manual switch).
The weight compensation method (Equilibrium) has been first presented in Just et al. 2020, JNER.
The parameter estimation can be by-passed by manually setting the weight compensation forces [N] via UDP (UpperArmWeight and LowerArmWeight).
When WeightSupport_EST is enabled:
[-10 -10 30 -30 0 0 0].Given two vertical forces at the upperarm and forearm, thanks to the transpose Jacobian matrices, joint weight compensation torques are computed, weighted (WeightSupport_Percent) and enabled (WeightSupport_EN).
See also: