Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Controller #150

Open
Bigpig4396 opened this issue Apr 20, 2020 · 2 comments
Open

Controller #150

Bigpig4396 opened this issue Apr 20, 2020 · 2 comments

Comments

@Bigpig4396
Copy link

Hi, I notice you use 3 PID controllers for each finger, but each finger has 4 joints. One controller j0 controls joints j1 and j2. So are there controllers to control j1 and j2 separately?
@Bigpig4396
Copy link
Author

I mean shadow hand

@toliver
Copy link
Contributor

toliver commented Apr 20, 2020

Hi, J1 and J2 are underactuated. There is a single actuator for both joints (although each one of them has a position sensor). That's why a single controller J0 is controlling J1 and J2.
They can't be controlled separately.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
2 participants
@toliver @Bigpig4396