Current Work

• Have not yet heard back from Barrett regarding friction

• Friction is interfering in another sense - since the PID outputs joint accelerations to RNE, if friction is too high we actually aren't accelerating as much as expected so RNE overshoots the centrifugal/coriolis terms on other joints

• A student from WPI recommended Ziegler Nichols method

• A student from Yale said she has seen similar friction curves on a different robotic arm

• Working on Simulink serial communication

– Got the hand initialize to go over the COM port!

– Trying to figure out how to best do synchronous I/O using Simulink, Mathworks tech support is helping

What's Next

Finish position/trajectory control (once I have the gains and friction compensation this should work well)

Integrate blending into the points of the trajectory so we get smooth velocity/acceleration

Incorporate UDP trajectory control for sending position commands

Test and debug Simulink model for Barrett Hand (start here while we wait for Barrett)

Coordinate the trajectory model and the hand model Grasping Experiments