Using the Simulink libraries
The Compliant Joint Toolbox comes with a Simulink library that consists of three parts:
- Joint models: using the built joint model classes for their parameters and dynamics functions.
- Controllers: various controllers are provided, from simple PID+FF/compensation controllers, to LQR/LQG and DOB-based controllers, etc.
- Observers: typically used as components of controllers, they represent ready to use building blocks for designing new controllers.
Model outputs and controller inputs use a consistent jointBus interface such that building simulation models using them becomes trivial. Furthermore, most blocks provide a variety of options, which are implemented using Simulink masks.
There is one unified joint block provided, based on current-controlled joints, with motorCurrent [A] and tau_e [Nm] (external interaction torque) inputs and jointBus output that provides the various measurements. The mask provides the following options:
- Joint object (class name);
- Velocity and torque low-pass filter cut-off frequencies;
- Input and output delay in number of samples;
- Measurement quantization;
- Input and output noise with adjustable variances.
Lorem ipsum dolor sit amet, consectetur adipiscing elit. Maecenas dapibus nisl id ornare congue. Curabitur sed mattis arcu. Sed et dapibus nulla. Suspendisse venenatis erat a dui varius, ac ornare velit luctus. Praesent condimentum ornare metus, et ultrices lorem venenatis et. Nullam lobortis nisl quis mi feugiat condimentum.
Lorem ipsum dolor sit amet, consectetur adipiscing elit. Maecenas dapibus nisl id ornare congue. Curabitur sed mattis arcu. Sed et dapibus nulla. Suspendisse venenatis erat a dui varius, ac ornare velit luctus. Praesent condimentum ornare metus, et ultrices lorem venenatis et. Nullam lobortis nisl quis mi feugiat condimentum.
Lorem ipsum dolor sit amet, consectetur adipiscing elit. Maecenas dapibus nisl id ornare congue. Curabitur sed mattis arcu. Sed et dapibus nulla. Suspendisse venenatis erat a dui varius, ac ornare velit luctus. Praesent condimentum ornare metus, et ultrices lorem venenatis et. Nullam lobortis nisl quis mi feugiat condimentum.
