CMU RI 16-711: KDC: Assignment 2; Spring 2010
This assignment explores making models: kinematic and dynamic calibration,
and learning.
We will use code similar to that provided in assignment 1.
We will test your code on versions of this code with different
types of modeling error.
Kinematic Calibration
Move the arm and observe the joint angles and wrist position (the elbow
position is also provided). Learn/calibrate a forward kinematics
function. What is its average error (distance between predicted and
actual wrist location)?
Learn/calibrate/create an inverse kinematics function. What is the
average error (distance between actual wrist location and target)
when the arm is placed at the computed joint angles?
Dynamic Calibration
Learn/calibrate a forward dynamics model. Learn/calibrate an
inverse dynamic model.
What is your steady state positioning error (in joint coordinates,
this is gravity compensation)?
How well can you follow a trajectory (in joint coordinates)?
Do not change the feedback control part of the code or the integration
timestep.
What to turn in?
Generate a web page describing what you did.
Include links to your source and compiled code in either .zip, .tar, or
.tar.gz format.
Be sure to list the names of all the members of your group.
Mail the URL of your web page to ewhitman@cmu.xxx and cc cga@cmu.xxx
[You complete the address, we are trying to avoid spam.]
The writeup is more important than the code. What did you do? Why
did it work? What didn't work?
If you can't use the provided code on Windows or Linux, let us know.
Questions
What could be going on? Geometric parameters changed, inertial parameters
changed, friction (viscous and stiction) added, flexibility (modeled
as additional joints), big magnets, large gravitational fields, ...