Current Works Overview Realtime Data Acquisition from Camera System – Direct to MatLAB(More on slide 2) – Streaming using NATNet Tracking Tools Axis Problem Worked on WAM Hand – realized our hand does not have strain gauges Updated shuttle with latest code Performed tests with John using constant torque to monitor effect of friction on velocity Confirmed WAM motor is exerting specified torque Met with Professor John Wen regarding implementing a State Feedback controller Began testing with John to compute PID gains and gravity compensation

Motion Camera System Progress Real-time Data Acquisition from Camera System – Wrote a MATLAB script to pull data directly into structs within MATLAB Current Limitations: currently only runs up to 75 FPS, doesn’t give corresponding marker locations with Trackable object (need to calculate estimated marker locations as well as actual marker locations for each object) Left vs Right Handed axis – seems to be a bug in Tracking Tools where exported data and translation option default to a left handed system – John ed Optitrack and we are awaiting a reply – Streaming using NATNet (streams UDP packets from Tracking Tools to MATLAB) Hopefully we will be able to record data at 100 FPS Currently working on an implementation in MATLAB but ran into problems with.NET function calls – Called MATLAB tech support and got a reply back today- said it is a known bug in the release I was using and recommended updating MATLAB

WAM Progress Ran test with constant torque on joint 1 and monitored velocity with respect to position – Found that velocity plot did not show constant acceleration due to friction (velocity actually decelerated at some positions) Used scale to measure torque being applied by joint 1 – Torque being applied is as expected (the specified torque) Met with Professor John When – Recommended first implementing a PD controller for each joint, then implement gravity compensation, then implement friction compensation – Position dependent friction will be accounted for using integral control (but should be relatively low) – Need to verify velocity measurement is accurate Performed tests to determine PD gains with John

Whats next? Continue assisting John as needed – Implement an accurate control system for WAM – Perform grasping experiments Continue Implementation of real time collection of data in MATLAB Review grasping notes/complete assignments