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Realistic inertia #199

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Realistic inertia #199

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c31edb5
Tested real inertia in gazebo indigo, retuned controllers in gazebo a…
guihomework Jan 27, 2015
91cf525
Inertia now exact values, with inertia tensor at COM (gazebo and ode …
guihomework Feb 20, 2015
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26 changes: 13 additions & 13 deletions sr_description/arm/config/arm_controller.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,37 +2,37 @@ sa_sr_position_controller:
type: effort_controllers/JointPositionController
joint: ShoulderJRotate
pid:
p: 60.0
i: 2.0
d: 80.0
p: 15.0
i: 1.0
d: 5.0
i_clamp: 30.0

sa_ss_position_controller:
type: effort_controllers/JointPositionController
joint: ShoulderJSwing
pid:
p: 100.0
i: 20.0
d: 80.0
p: 15.0
i: 30.0
d: 10.0
i_clamp: 90.0

sa_es_position_controller:
type: effort_controllers/JointPositionController
joint: ElbowJSwing
pid:
p: 50.0
i: 5.0
d: 40.0
p: 30.0
i: 10.0
d: 5.0
i_clamp: 90.0

sa_er_position_controller:
type: effort_controllers/JointPositionController
joint: ElbowJRotate
pid:
p: 50.0
i: 5.0
d: 50.0
i_clamp: 2.0
p: 30.0
i: 3.0
d: 5.0
i_clamp: 5.0

r_arm_cartesian_pose_controller:
type: robot_mechanism_controllers/CartesianPoseController
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2 changes: 1 addition & 1 deletion sr_description/arm/xacro/base/shadowarm_base.urdf.xacro
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Expand Up @@ -7,7 +7,7 @@
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.4" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
<inertia ixx="0.00071" ixy="0.0" ixz="0.0" iyy="0.00071" iyz="0.0" izz="0.0014" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
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7 changes: 5 additions & 2 deletions sr_description/arm/xacro/hand_support/shadowarm_handsupport_motor.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.75" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.016" />
<inertia ixx="0.00086" ixy="0.0" ixz="0.0" iyy="0.00086" iyz="0.0" izz="0.0017" />
</inertial>
<visual>
<origin xyz="0 0 -0.04" rpy="0 0 0"/>
Expand Down Expand Up @@ -38,7 +38,10 @@
effort="30" velocity="1.0"/>
<dynamics damping="5.5"/>
</joint>

<gazebo reference="ElbowJRotate">
<provideFeedback>1</provideFeedback>
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<xacro:shadowarm_handsupport_motor_transmission />

</xacro:macro>
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7 changes: 5 additions & 2 deletions sr_description/arm/xacro/hand_support/shadowarm_handsupport_muscle.urdf.xacro
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Expand Up @@ -8,7 +8,7 @@
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.75" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.016" />
<inertia ixx="0.00092" ixy="0.0" ixz="0.0" iyy="0.00092" iyz="0.0" izz="0.0018" />
</inertial>
<visual>
<origin xyz="0 0 -0.04" rpy="${M_PI/2} 0 0"/>
Expand Down Expand Up @@ -38,7 +38,10 @@
effort="30" velocity="1.0"/>
<dynamics damping="5.5"/>
</joint>

<gazebo reference="ElbowJRotate">
<provideFeedback>1</provideFeedback>
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<xacro:shadowarm_handsupport_muscle_transmission />

</xacro:macro>
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7 changes: 5 additions & 2 deletions sr_description/arm/xacro/lower_arm/shadowarm_lowerarm.urdf.xacro
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Expand Up @@ -7,7 +7,7 @@
<inertial>
<origin xyz="0.08 0 0.0625" rpy="0 0 0" />
<mass value="1.7" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
<inertia ixx="0.0016" ixy="0.0" ixz="0.0" iyy="0.0016" iyz="0.0" izz="0.0018" />
</inertial>
<visual>
<origin xyz="0.03 0 0.036" rpy="0 0 0"/>
Expand Down Expand Up @@ -37,7 +37,10 @@
effort="50" velocity="1.0"/>
<dynamics damping="5.5"/>
</joint>

<gazebo reference="ElbowJSwing">
<provideFeedback>1</provideFeedback>
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<xacro:shadowarm_lowerarm_transmission />

</xacro:macro>
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7 changes: 6 additions & 1 deletion sr_description/arm/xacro/trunk/shadowarm_trunk.urdf.xacro
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Expand Up @@ -7,7 +7,7 @@
<inertial>
<origin xyz="0 0 0.26525" rpy="0 0 0" />
<mass value="10" />
<inertia ixx="0.15" ixy="0.0" ixz="0.0" iyy="0.15" iyz="0.0" izz="0.02" />
<inertia ixx="0.298" ixy="0.0" ixz="0.0" iyy="0.298" iyz="0.0" izz="0.0361" />
</inertial>
<visual>
<origin xyz="0 0 0.005" rpy="0 0 0" />
Expand Down Expand Up @@ -38,6 +38,11 @@
<dynamics damping="5.5"/>
</joint>

<gazebo reference="ShoulderJRotate">
<provideFeedback>1</provideFeedback>
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>

<xacro:shadowarm_trunk_transmission />

</xacro:macro>
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7 changes: 5 additions & 2 deletions sr_description/arm/xacro/upper_arm/shadowarm_upperarm.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
<inertial>
<origin xyz="0 0 0.1845" rpy="0 0 0" />
<mass value="2" />
<inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.05" />
<inertia ixx="0.044" ixy="0.0" ixz="0.0" iyy="0.044" iyz="0.0" izz="0.0056" />
</inertial>
<visual>
<origin xyz="0 0.067 0" rpy="0 0 0" />
Expand Down Expand Up @@ -36,7 +36,10 @@
<limit lower="0" upper="${M_PI/2}" effort="100" velocity="1.0"/>
<dynamics damping="5.3"/>
</joint>

<gazebo reference="ShoulderJSwing">
<provideFeedback>1</provideFeedback>
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<xacro:shadowarm_upperarm_transmission />

</xacro:macro>
Expand Down
79 changes: 79 additions & 0 deletions sr_description/doc/ArmInertia.txt
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@@ -0,0 +1,79 @@
Author Guillaume WALCK [email protected]

work done during the HANDLE project in 2011 (inertia tensor moved to joint axis)
reworked 2015 (inertia tensor at COM)

Overview
========

Arm inertia estimated from bounding box or bounding cylinders.
mass estimated from volume of bounding boxes times density of material
computation done with octave


Octave functions
================

---------------
function [ix,iy,iz] = inertiabox(sx,sy,sz,mass)

ix = 1/12.0*mass*(sy*sy+sz*sz);
iy = 1/12.0*mass*(sx*sx+sz*sz);
iz = 1/12.0*mass*(sy*sy+sx*sx);
end
---------------
function [ix,iy,iz] = inertiacyl(radius,length,mass)
% along z

iz = mass* radius*radius/2;
ix = 1/12.0* mass * (3*radius*radius+length*length);
iy = ix;
end
--------------------


Inertia Tensors
===============

-----------------------------
base aluminum m=400g
inertiabox(0.145,0.145,0.012,0.4)
Ix = 7.0563e-04
Iy = 7.0563e-04
Iz = 0.0014017


-----------------------------
hand_support_plate_motor aluminum m=750g
inertiacyl(0.0675,0.006,0.75)
Ix = 8.5655e-04
Iy = 8.5655e-04
Iz = 0.0017086

-----------------------------
hand_support_plate_muscle aluminum m=750g
inertiacyl(0.07,0.006,0.75)
Ix = 9.2100e-04
Iy = 9.2100e-04
Iz = 0.0018375

-----------------------------
trunk various material m=10kg
inertiacyl(0.17/2,0.580,10.0)
Ix = 0.29840
Iy = 0.29840
Iz = 0.036125

----------------------------
upperarm various material m=2kg
inertiacyl(0.15/2,0.500,2.0)
Ix = 0.044479
Iy = 0.044479
Iz = 0.0056250

-----------------------------
lower_arm various material m=1.7kg
inertiabox(0.080,0.078,0.07,1.7)
Ix = 0.0015561
Iy = 0.0016008
Iz = 0.0017686
124 changes: 124 additions & 0 deletions sr_description/doc/HandInertia.txt
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@@ -0,0 +1,124 @@
Author Guillaume WALCK [email protected]

work done during the HANDLE project in 2011 (inertia tensor moved to joint axis)
reworked 2015 (inertia tensor at COM)

Overview
========

Hand inertia estimated from bounding box or bounding cylinders.
mass estimated from volume of bounding boxes times density of material
(sometimes adjusted to match real values)
computation done with octave


Octave functions
================

---------------
function [ix,iy,iz] = inertiabox(sx,sy,sz,mass)

ix = 1/12.0*mass*(sy*sy+sz*sz);
iy = 1/12.0*mass*(sx*sx+sz*sz);
iz = 1/12.0*mass*(sy*sy+sx*sx);
end
---------------
function [ix,iy,iz] = inertiacyl(radius,length,mass)
% along z

iz = mass* radius*radius/2;
ix = 1/12.0* mass * (3*radius*radius+length*length);
iy = ix;
end
--------------------

Inertia tensors
===============

density delrin = 1.41g/cm3
aluminum density = 2.7g/cm3

---------------------------
wrist aluminum V=16+37.7/2 = 41cm3 m=100g
inertiabox(0.030,0.066,0.058,0.1)
Ix = 6.4333e-05
Iy = 3.5533e-05
Iz = 4.3800e-05

---------------------------
palm delrin V=200cm3 m=300g
inertiabox(0.085,0.020,0.118,0.30)
Ix = 3.5810e-04
Iy = 5.2872e-04
Iz = 1.9063e-04

---------------------------
lfmetacarpal V=13cm3 m=30g
inertiabox(0.035,0.022,0.073,0.030)
Ix = 1.4532e-05
Iy = 1.6385e-05
Iz = 4.2725e-06

--------------------------------
knuckle aluminum V=3cm3 m=8g
inertiacyl(0.009,0.012,0.008)
Ix = 2.5800e-07
Iy = 2.5800e-07
Iz = 3.2400e-07

-------------------------------
proximal delrin V=21cm3 m=30g
inertiabox(0.02,0.018,0.06,0.030)
Ix = 9.8100e-06
Iy = 1.0000e-05
Iz = 1.8100e-06

-------------------------------
middle delrin V=12.24cm3 m = 17g
inertiabox(0.018,0.017,0.04,0.017)
Ix = 2.6761e-06
Iy = 2.7257e-06
Iz = 8.6842e-07

-------------------------------
distal delrin + rubber V=7cm3 m=12g
inertiabox(0.018,0.0145,0.027,0.012)
Ix = 9.3925e-07
Iy = 1.0530e-06
Iz = 5.3425e-07

-------------------------------
thdistal delrin + rubber V=13cm3 m=16g
inertiabox(0.021,0.018,0.035,0.016)
Ix = 2.0653e-06
Iy = 2.2213e-06
Iz = 1.0200e-06

-------------------------------
thproximal delrin V=29.5cm3 m=40g
inertiacyl(0.025/2,0.06,0.04)
Ix = 1.3562e-05
Iy = 1.3562e-05
Iz = 3.1250e-06

-------------------------------
thmiddle delrin V=19.77cm3 m=27g
inertiacyl(0.022/2,0.052,0.027)
Ix = 6.9007e-06
Iy = 6.9007e-06
Iz = 1.6335e-06

--------------------------------
thhub m=5g
inertiabox(0.005,0.005,0.005,0.005)
Ix = 2.0833e-08
Iy = 2.0833e-08
Iz = 2.0833e-08

------------------------------
thbase m=10g
inertiabox(0.010,0.010,0.010,0.010)
Ix = 1.6667e-07
Iy = 1.6667e-07
Iz = 1.6667e-07

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