Overview
This component computes joint torques from joint angles.
PD gains
PD gains should be specified by pdgain file. PD file should include
[Pgain_1] [Dgain_1]
...
[Pgain_N] [Dgain_N]
Here, N is the number of joints.
| implementation_id | PDcontroller |
| category | example |
Data Ports
Input Ports
| port name | data type | unit | description |
| angle | RTC::TimedDoubleSeq | [rad] or [m] | Actual joint angles |
| angleRef | RTC::TimedDoubleSeq | [rad] or [m] | Reference joint angles |
Output Ports
| port name | data type | unit | description |
| torque | RTC::TimedDoubleSeq | [rad] or [m] | Reference joint torques |
Service Ports
Service Providers
N/A
Service Consumers
N/A
Configuration Variables
| name | type | unit | default value | description |
| dt | double | | 0.005 | sampling time |
| pdgains_sim_file_name | string | | | File path for PD gain file. |
Configuration File
| key | type | unit | description |
| dt | double | [s] | sampling time of PD control |
| ref_dt | double | [s] | sampling time of reference angles. If this value is specified, reference joint angles are interpolated internally so that they reach the given values after ref_dt. If this value is not specified, the given reference joint angles are used immediately in the PD control. |
| model | std::string | | URL of a VRML model |
| pdgains_sim_file_name | std::string | | File path for PD gain file. |
| pdcontrol_tlimit_ratio | vector | | Ratio vector for torque limit of PDcontroller outputs. If not specified, 1.0 by default. |
