Current works
• Working on optimization loop
– Completed stand alone program that allows
modification of:
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Mass
Moment of Inertia
Position controlled friction coefficient
Support point radial distance
Surface Friction Coefficient
Current works
• In completing the stand alone program, I
found a bug in dVC, though I have not yet
updated the code at Sourceforge
• Manufactured most of a new end effecter for
actuator
– Need to thread (tap) it to allow mounting, will
check for right tools at student machine shop,
possibly need to buy a 10x1.25 tap.
What next?
• Work on matlab .m files for optimization loop
– Calculate error using integral approximation
– Call fminsearch to find best values of parameters
• Finish manufacture of end effecter