Robotology
Increase the saturations for joint torques of CAN robots #8
-
|
Does anyone know how to increase the saturations of the joint torques for CAN robots? |
Beta Was this translation helpful? Give feedback.
Replies: 2 comments
-
|
Yes,
|
Beta Was this translation helpful? Give feedback.
Yes,
to do this, you have to change two tags' value in two different configuration files of the robotInterface.
Go on the PC104 (e.g. ssh pc104)
Open the configuration xml file under .local/share/yarp/robots/iCubGenova0X/hardware/motorControl associated with the part you want to increase the torque saturations of (e.g. icub_torso.xml). Then change the value of the tag "TorqueMax" into the new saturation value, say x.
Open the configuration xml file under .local/share/yarp/robots/iCubGenova0X/hardware/VFT associated with the part you want to increase the torque saturations of (e.g. torso_virtual_strain.xml). Then change the value of the tag "fullScale" into the new saturation value, …