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LuGre friction model parameters added #694

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Dec 17, 2024
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LuGre friction model parameters added #694

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12 changes: 12 additions & 0 deletions iCubTemplates/iCubTemplateV6_0/hardware/motorControl/body_part--ebX-jA_B-mc.xml
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Expand Up @@ -133,6 +133,18 @@
<param name="stiffness"> 1 </param> <!-- stiffness values. If torque control pid has metric_units, measurament units is [Nm/degree] else raw value -->
<param name="damping"> 1 </param> <!-- damping values. If torque control pid has metric_units, measurament units is [Nm/(degree/sec)] else raw value -->
</group>

<group name="LUGRE">
<param name="Km"> 4.3 </param> <!-- motor torque constant [Nm/A] -->
<param name="Kw"> 0.045 </param> <!-- joint viscous friction coefficient [Nm/(rad/s)] -->
<param name="S0"> 2.5 </param> <!-- LuGre model hysteresis stiffness [Nm/rad] -->
<param name="S1"> 0 </param> <!-- LuGre model hysteresis damping [Nm/(rad/s)] -->
<param name="Vth"> 5 </param> <!-- Stribeck friction velocity threshold [rad/s] -->
<param name="Fc_pos"> 3.3 </param> <!-- Coulomb friction constant (positive rotation) [Nm] -->
<param name="Fc_neg"> 3.3 </param> <!-- Coulomb friction constant (negative rotation) [Nm] -->
<param name="Fs_pos"> 7 </param> <!-- Stribeck friction constant (positive rotation) [Nm] -->
<param name="Fs_neg"> 7 </param> <!-- Stribeck friction constant (negative rotation) [Nm] -->
</group>

<!--MY_CUR_CONTROL and MY_SPEED_CONTROL control groups have to be used only with 2FOC boards -->
<group name="MY_CUR_CONTROL">
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