Search found 43 matches

by ChrisC
Fri Oct 04, 2013 11:29 am
Forum: Centralized Controller Platforms
Topic: RMP210, frequency response characteristics
Replies: 1
Views: 3412

RMP210, frequency response characteristics

Working with the RMP210, we would like to know the frequency cutoff of the velocity controller. Would it be possible to provide the frequency response characteristics of the speed controller?
by ChrisC
Fri Oct 04, 2013 11:21 am
Forum: Centralized Controller Platforms
Topic: What is the expected differential error in the RMP220?
Replies: 1
Views: 3524

What is the expected differential error in the RMP220?

What is the expected differential error between requested movement and actual movement of the RMP? What affects do external criteria, such as surface, payload, uphill/downhill position etc. have on the error state?
by ChrisC
Fri Oct 04, 2013 11:04 am
Forum: Centralized Controller Platforms
Topic: Question about Segway BSA accuracy
Replies: 0
Views: 2822

Question about Segway BSA accuracy

In terms of the Segway BSA as an inertial measurement unit (IMU), what accuracy does the RMP's BSA provide for measured values for acceleration and direction?
by ChrisC
Fri Oct 04, 2013 10:57 am
Forum: Centralized Controller Platforms
Topic: Question about the buffer for commands sent to the RMP
Replies: 1
Views: 3570

Question about the buffer for commands sent to the RMP

Sometimes when sending commands using a script (based off the Python demo OCU), if the program terminates before all the commands are executed, I find the RMP still executes some of the commands before terminating. Is this normal?
by ChrisC
Fri Oct 04, 2013 10:52 am
Forum: Centralized Controller Platforms
Topic: ROS packages for navigation
Replies: 1
Views: 3484

ROS packages for navigation

We've been looking into ROS packages that works with the Segway RMP. We are looking into using http://wiki.ros.org/segway_rmp. Do you have any ROS packages/stacks you've worked with for navigation?
by ChrisC
Fri Oct 04, 2013 10:50 am
Forum: Centralized Controller Platforms
Topic: RMP response message packet delay
Replies: 3
Views: 6235

RMP response message packet delay

After writing a script(based off the python demo program), the script we developed has issues with dropped packets. In order to ensure all of the commands are executed, the script would wait until a packet is received back. Sometimes this wait is short, and sometimes it can be quite long. Is there a...
by ChrisC
Fri Oct 04, 2013 10:46 am
Forum: Centralized Controller Platforms
Topic: RMP220 feedback data for odometry - turn in place
Replies: 1
Views: 3577

RMP220 feedback data for odometry - turn in place

We would like to make the RMP unit turn in place, which we did by setting the velocity to 0 m/s and the yaw rate to the desired rad/s. However, we were unable find a useful feedback information from the UDFB to tell us how much we have turned. The other option was to make a table to map the wheel po...
by ChrisC
Fri Oct 04, 2013 10:41 am
Forum: Centralized Controller Platforms
Topic: RMP220 question about yaw rate discrepancy
Replies: 4
Views: 8109

RMP220 question about yaw rate discrepancy

When trying to send a yaw rate to the RMP, the user defined feedback bitmap(at element 57 of the returned array) returns the target yaw rate to be 3 times greater my desired yaw rate. Is there a reason for that?
by ChrisC
Tue Sep 10, 2013 3:36 pm
Forum: Centralized Controller Platforms
Topic: Discrepancy between commanded and actual turn rate
Replies: 3
Views: 4881

Discrepancy between commanded and actual turn rate

When commanding the RMP440 Flex Omni platform to turn in place, we’re seeing a discrepancy between the commanded turn rate and the actual turn rate of about 20 degrees at an update rate of 10hz (the discrepancy between commanded and observed linear movement is near zero). Obviously, this kind of dis...
by ChrisC
Mon Sep 09, 2013 1:28 pm
Forum: Deuce Board Platforms
Topic: Checking the battery status
Replies: 12
Views: 20257

Re: Checking the battery status

From the RMP Interface Guide document for the RMP 50XL, In section 2.5.2 Monitoring Message Contents: Data Slot 2 of CAN Message 8, 0x0407 contains the minimum battery state of charge. The conversion factor for Minimum Battery State of Charge – 2.55 counts/percent (255 counts full range) Does this h...