robots.bimanual

Bimanual Helyx: two 290/145/145 mm soft arms side by side on one frame, pointing up.

Module Attributes

ARMS

right first, then left.

BASE_POSITIONS

Arm bases on the frame [m]; both arms keep the frame's orientation.

GRAVITY

the arms point up.

SEGMENT_MASS

Lumped mass [kg] per 145 mm of arm, at each section's center (60, 30, 30 g).

EFFICIENCY

for estimates of external forces.

STIFFNESS

Diagonal stiffness in Δ of each arm [N/m], referred to the commanded torque (identified values referred to the delivered torque, divided by the efficiency 0.12 they were identified with).

DAMPING

Diagonal damping in Δ of each arm [N·s/m], referred like the stiffness.

ENCODER_SIGN

Sign of the motor encoders against the library convention (θ > 0 pulls a tendon).

MOTOR_IDS

the right arm's nine, then the left's.

Functions

add_dynamics(robot[, stiffness, damping])

Give both arms their identified stiffness and damping in Δ, and gravity, for simulation.

arms([name, gravity, lengths, ...])

Both arms as one robot: q = [Δ_right, Δ_left] (18), motors right then left.

hardware()

The two arms' motors.

output_stage([motors])

The arms' output stage: a torque offset, a soft stop on slack tendons, a torque clip.