skill_cartesian_tracking_pid

Keeps on aligning the tool frame with a target frame

Defined at line 144 of file skills/skill_apply_force_pid.xml in package pitasc_library.

Meta data

Categories
single_robot, position_controlled
Prototypes
skill_cartesian, loop_target, skill_single_robot, skill, object, dictionary, base, descriptive

Parameters

Required parameters:

tool_frame : string
Name of the tool frame
target_frame : string
Name of the target frame

Basic parameters:

robot : dict
Robot that is controlled by the skill (only needs to be set at the application level).
axes : csv:string
List of axes to be aligned.
Default: x, y, z, a, b, c
target_offsets : csv:float
Offsets of the axes to be aligned. Must be the same
number of values as for ‘axes’. If no value is provided, 0 is used for
all axes.
max_linear_velocity : float
Max linear velocity.
Default: 1.0
max_angular_velocity : float
Max angular velocity.
Default: 1.5

Expert parameters:

skill_name : string
Name of this skill. Must be locally unique.
bounds : list:bound
Contains the bounds description(s).
monitors : list:monitor
Contains the monitors of the skill that determine when the skill should terminate.
transitions : list:transition
Contains additional transitions to other states (skills), given an event name.
scripts : list:script
Contains scripts that should be executed while the skill is active.
trajectory_duration : float
Duration of the trajectory in [s]. ‘0’ means as
fast as possible. Is expanded accordingly if in conflict with maximal
linear veloctiy.
Default: False

Hidden parameters:

collections : list:collection
Contains the kinematic chains of the skill (feature, robot, object chains).
Default: odict_keys([‘collection’, ‘target_to_tool’])
loops : list:kinematic_loop
Contains the kinematic loop(s) that define the task to be solved.
Default: odict_keys([‘kinematic_loop’])
tasks : list:task
Contains the task description(s).
Default: odict_keys([‘tracking’])
K : float
The gain K of the controller
Default: 0.001
Tn : float
The integral time of the controller
Default: False
Tv : float
The derivative time of the controller
Default: False
Tp : float
Parasitic timeconstant of real PID controller (Tp
smaller than Tv)
Default: 0.001
u_i_limit : float
The output limit of the i part of the controller
Default: False
I_flag : bool
Parameter to switch integral part on/off
Default: False
D_flag : bool
Parameter to switch derivative part on/off
Default: False

Examples

skill_cartesian_tracking_pid is used in the following examples: