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Position controller sample (for Exo) Dex 3.2
There are now 2 versions of the task available:
Compiled for Dexterit-E 3.2, matlab 2010a
Compiled for Dexterit-E 3.5, matlab 2010a.
The Dex 3.5 version makes use of the Parameter Table Defn block.
For Dexterit-E 3.5, matlab 2010a click here
The sample position controller task was made for the KINARM Exoskeleton. In order for it to work on a KINARM End-Point robot, you must do two things:
- replace the KINARM_Exo_Position_Controller block with the EP version from our TDK (be sure to keep the Time base the same, at 0.001)
- replace the KINARM_Apply_Loads block with KINARM_EP_Apply_Loads block.
These two changes should enable you to get the position controller to work with a KINARM EP robot.