Current Work
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Barrett emailed back with some friction graphs
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The friction readings we are getting are
between 2-4 times what they are supposed to
be
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In need of repair? Also hand finger 3 (the
thumb) making a strange noise.
Wrote a Barrett Hand Controller
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Working very well with the set of gains I found
by guessing and checking
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GUI written in Java sends UDP position
commands, working well
Writing a similar GUI for the Barrett Arm
What's Next
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Figure out what to do about this friction, then
find some good gains using the GUI
Integrate blending into the trajectory points so
we get smooth velocity/acceleration
Coordinate the trajectory model and the hand
model (pretty much works now, just need to
feed back arm position to the hand block)
Grasping Experiments