Home Examples Friction Compensation

Friction Compensation

Kinarm robots are low inertial systems by design, and as such, friction compensation is not required to enable natural behaviour throughout the workspace.  That said, this sample task demonstrates a way to implement friction compensation on the Kinarm.

Last tested in Dex 3.10, MATLAB 2o15a 18-Aug-23.

Related Tasks

Coding Tips
Persistent Variables
Persistent variables are ones that hold their value between calls to the embedded MATLAB code they are defined in.
Coding Tips
Custom Control of the Trial Protocol Order
Normally, Dexterit-E manages and controls the order in which Trial Protocols (TPs) execute based on what is defined in the block table of the Task Protocol (see the Dexterit-E User Guide for more details).