zenither_config.py
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00001 
00002 calib = {
00003     'El-E': {
00004         'robot': 'El-E',
00005         'pos_factor': 0.9144 / (183897 - 1250),
00006         'vel_factor': 0.9144 / (183897 - 1250) / 20,
00007         'acc_factor': 0.9144 / (183897 - 1250),
00008         'POS_MAX': 0.9,
00009         'VEL_DEFAULT': 1.5,
00010         'VEL_MAX': 4.0,
00011         'ACC_DEFAULT':0.0002,
00012         'ACC_MAX':0.001,
00013         'ZERO_BIAS':-0.004,
00014         'HAS_BRAKE':True,
00015         'nadir_torque': 0,
00016         'zenith_torque': 200,
00017         'down_fast_torque': 0,
00018         'down_slow_torque': 50,
00019         'down_snail_torque': 60,
00020         'up_fast_torque': 300,
00021         'up_slow_torque': 250,
00022         'up_snail_torque': 200,
00023         'max_height': 0.89,
00024         'min_height': 0.005
00025         },
00026     'HRL2': {
00027         #-------- Cressel's explanation -------------------------
00028         # max speed for size 40 1m actuator is 1400rpm / 0.45m/s
00029         # conversion for velocity 536.87633 cnts/s / rpm
00030         # 536.87633*1400/0.45 # cnts/s / m/s (0.5,-540179)(0.0,0)
00031         # close but not there yet
00032 
00033         #-------- Advait's explanation
00034         # 1 rev of zenither = 20mm (from festo manual, page 10)
00035         # 1 rev of animatics servo = 2000 encoder counts (pg 6, section 1.0 of the animatics manual)
00036         # a gear reduction of 10 (I think I remember Cressel mentioning this).
00037         # => 20000 counts = 20mm or 1 count = 1/1000,000 meters
00038         #
00039 
00040         'robot': 'HRL2',
00041         'pos_factor': 1.0/ (-1000000), # Advait - Apr 27, 2009
00042         'POS_MAX': 0.96, # Advait - Feb 17, 2009
00043         'ZERO_BIAS':0.28,
00044         'HAS_BRAKE':True,
00045         'nadir_torque': 3,
00046         'zenith_torque': 400,
00047         'down_fast_torque': 0,
00048         'down_slow_torque': 3,
00049         'down_snail_torque': 5,
00050         'up_fast_torque': 450,
00051         'up_slow_torque': 400,
00052         'up_snail_torque': 300,
00053         'zero_vel_torque': 90,
00054         'max_height': 1.32,
00055         'min_height': 0.29
00056         },
00057 
00058     'test_rig': {
00059         #-------- Advait's explanation
00060         # 1 rev of zenither = 10mm (from festo manual, page 10)
00061         # 1 rev of animatics servo = 2000 encoder counts (pg 6, section 1.0 of the animatics manual)
00062         # => 2000 counts = 10mm or 1 count = 1/200,000 meters
00063         #
00064         # for vel_factor and acc_factor, see Page 8 of Animatics manual
00065         #
00066         'robot': 'test_rig',
00067         'pos_factor': 1.0 /200000,
00068         'vel_factor': 1.0/(32212.578*100),
00069         'acc_factor': 1.0/(7.9166433*100),
00070         'POS_MAX': 0.9,
00071         'VEL_DEFAULT': 0.2,
00072         'VEL_MAX': 0.4,
00073         'ACC_DEFAULT':0.5,
00074         'ACC_MAX':10.0,
00075         'ZERO_BIAS':0.0,
00076         'HAS_BRAKE':False,
00077         'nadir_torque': -150,
00078         'zenith_torque': 150,
00079         'max_height': 0.9,
00080         'min_height': 0.005
00081         },
00082 }
00083 
00084 


zenither
Author(s): Cressel Anderson, Advait Jain, Hai Nguyen, Advisor: Prof. Charlie Kemp, Lab: Healthcare Robotics Lab at Georgia Tech
autogenerated on Wed Nov 27 2013 11:54:59