AdmittanceModel
AdmittanceModel turns a measured force into a motion setpoint.
Physical models and compensation
Models of the machine itself: contact behaviour, friction, drive train and the mapping between actuator and axis coordinates.
less than a minute
ImpedanceModel
ImpedanceModel is the opposite of AdmittanceModel: motion goes in, force comes out.
MassSpringDamperModel
MassSpringDamperModel simulates a point mass on a spring and damper, coupled to a neighbouring model.
FrictionCompensation
FrictionCompensation computes the friction force an axis is fighting at a given velocity, so a feedforward path can cancel it before the feedback loop has to.
BacklashCompensation
BacklashCompensation produces a position offset that follows the direction of travel, to take up the lost motion in a gearbox.
Gearbox
Gearbox applies a transmission ratio in both directions, and applies it the right way round for each kind of signal: speeds and positions scale by the ratio, torques and forces scale by its reciprocal.
Transformation
Transformation is the conversion stage between an actuator’s engineering units and a drive’s raw units.
Transducer
Transducer converts between a sensor’s raw units — encoder ticks, resolver counts, an analogue reading — and engineering units, in both directions.
TorqueSensorModule
TorqueSensorModule is the signal-conditioning chain for a joint torque sensor.