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feedforwardgravitycompensation-wcr's Introduction

Feedforward Gravity Compensation for a Wall Climbing Robot

Structure

Script folder contains a MATLAB function and a script to calculate the gravity compensation leg position.

Data folder contains the position and posture data during the ceiling walking. The video can be downloaded as the supplement materials.

Your own compensation

You can obtain your own compensation value by the MATLAB script.

These are the parameters you needs to modify:

  • dataGenerator.m line 20: the gravity and its direction of the whole robot Fg

  • dataGenerator.m line 25: the size of the link L1, L2, L3; the half of the length and width of the robot body lengthHF, widthHF

  • dataGenerator.m line 26: the positions of the foot Pfc in the body coordinate

  • dataGenerator.m line 150: the stiffness of the joints K_tq

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