Comments (13)
and the belt drive ratio is
2:1
This is caused by the number of teeth of the two pulleys: 28/14.
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Weird enough, 196×1.778=348.44, which is similar to 384.44 with 2 digits swapped.
Yeah, @pattacini! @simeonedussoni noticed the same thing. And, weird enough again, the number with the digits swapped is close enough to
This is caused by the number of teeth of the two pulleys: 28/14.
Given the 1.778
oddball, I checked on the teeth of the pulleys again. I confirm it is as @mfussi66 said.
I have no idea where that number came from in the first place.
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The E2J parameter inevitably has an effect on the decoupler, since it uses the angle of the driven pulley to compute the direct kinematics.
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looking at the model in Simscape it turns out that:
the ratio is 1.777
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Hi @maggia80
We do generate the code of the controller only, as per https://github.com/robotology/icub-firmware-models/tree/master/wrist_mk2_1#embedded-firmware-generation.
The ratio is hand-coded in the model but used only for simulation.
At any rate, I'll open up a PR to fix them up.
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Here's the PR:
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I would like to take a look at the Simscape model, where can I find it?
You ought to download the repo https://github.com/robotology/icub-firmware-models and then open up the MATLAB project https://github.com/robotology/icub-firmware-models/blob/master/wrist_mk2_1/spherical_wrist.prj (using the latest release R2023b).
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Weird enough,
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Ok, thanks @Lawproto!
I'll open up a PR to fix the values.
The documentation is correct.
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PR opened in:
@simeonedussoni @valegagge, remember to update the values in the test setup of the new wrist.
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PR opened in:
@simeonedussoni @valegagge, remember to update the values in the test setup of the new wrist.
Yes for sure! we noticed the problem while we were configuring the wrist MK2.1 setup!
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I'll check it out and, if it's the case, I'll open an issue at https://github.com/robotology/icub-firmware-models.
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I would like to take a look at the Simscape model, where can I find it?
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Related Issues (20)
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- CI failing on `ergoCubSN000` and `iCubGenova09` with the latest `yarp-3.8` HOT 11
- Missing example for `embObjMultipleFTsensors` device in `iCubTemplates/iCubTemplateV6_0/hardware/FT`
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- Update maintained robots to the use of `multipleanalogsensorsserver` for `embObjMAIS` device HOT 3
- Wrong eyes joint names for iCubGenova11 HOT 4
- Replace `embObjInertial` w/ `embObjIMU` – Stint 2 HOT 11
- Port all the robots' configuration to the TemperatureSensorType parameter HOT 2
- Register iCub `iCubManchester01` and update robotology-superbuild HOT 16
- CI for tests `dry-run_R!SN00?_dev` HOT 1
- Add alljoints-inertials_wrapper/remapper
- IMU sensors: alignment real ergoCub/iCub w/ simulated one HOT 10
- Cleanup ergocub configuration files using `enable_by` and `disable_by` yarprobotinterface tags HOT 6
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- Remove ergocub xml leftovers
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