#garfield Logs

Apr 18 2014

00:30 rue_more I'm back
00:43 TELunus Final exams done!
00:46 rue_more good show!
00:51 rue_more zhanx,
00:52 rue_more https://www.youtube.com/watch?v=sjMhJxS96Lk
00:52 rue_more its wiggly, but I will fix up
00:55 rue_more TELunus, ^ did you see?
03:27 TELunus I'd seen pictures only before.
03:28 TELunus Nice work. Looks like your controller could use some refinement though. Fun fact, I've just taken a number of sucsessive courses on designing controlls for mechanical systems.
03:29 TELunus All them bode plots and lead-lag controllers.
12:32 TELunus Wow. Masses that pivit up and down on the end of an arm don't seem very un-comon to me, yet the force is a non-linear function of angle (sinusoidal). So it can't be modeled accurately with a linear block diagram.
12:33 TELunus Yet that's pretty much the only tool they've givine us.
12:33 TELunus For modeling plants.
12:35 TELunus I guess you could for any angle linearize the sinusoid, controll based on that, and have the arm use a slightly different controller at each angle.
13:57 rue_more the base has a bunch of slop in the gears, what you see if mostly tooth chattering
13:57 rue_more I'm just using the hobby servos direct
23:07 zhanx Evening