simple_pendulum.controllers.gravity_compensation

Gravity Compensation Control

Submodules

simple_pendulum.controllers.gravity_compensation.gravity_compensation

Gravity Compensation Controller

class simple_pendulum.controllers.gravity_compensation.gravity_compensation.GravityCompController(params)

Bases: AbstractController

get_control_output(meas_pos, meas_vel, meas_tau, meas_time)

The function to compute the control input for the pendulum actuator. Supposed to be overwritten by actual controllers. The API of this method should be adapted. Unused inputs/outputs can be set to None.

Parameters:

meas_pos: float

The position of the pendulum [rad]

meas_vel: float

The velocity of the pendulum [rad/s]

meas_tau: float

The meastured torque of the pendulum [Nm]

meas_time: float

The collapsed time [s]

Returns:

des_pos: float

The desired position of the pendulum [rad]

des_vel: float

The desired velocity of the pendulum [rad/s]

des_tau: float

The torque supposed to be applied by the actuator [Nm]