There are two major problem in using the DLR Hit Hand II:
- incorrect kinematics;
- erroneous encoders readings.
This affects the execution of trajectories by making the fingers twitching, since there is not matching between commanded states and the robot's actual state.
The estimation of some offsets can reduce the twitching movements, but still it affects the re-planning phase of my algorithm. In fact, the re-planning starts from a position in which at least one finger is in contact with the object, a sudden twitch cause the object to move, which is visible in the recorded video. I am afraid this will cause a bad review of the entire algorithm, especially if we attempt to publish it in a good journal.
Possible solution is to learn the estimated kinematic using markers on the fingers and a tracking device, to better estimate both kinematics and offsets. However if we undertake such a route, we would miss the AuRo deadline (unless we get another extension, God forbid that), but we may have another interesting publication.
I am open to any suggestion.
There are two major problem in using the DLR Hit Hand II:
This affects the execution of trajectories by making the fingers twitching, since there is not matching between commanded states and the robot's actual state.
The estimation of some offsets can reduce the twitching movements, but still it affects the re-planning phase of my algorithm. In fact, the re-planning starts from a position in which at least one finger is in contact with the object, a sudden twitch cause the object to move, which is visible in the recorded video. I am afraid this will cause a bad review of the entire algorithm, especially if we attempt to publish it in a good journal.
Possible solution is to learn the estimated kinematic using markers on the fingers and a tracking device, to better estimate both kinematics and offsets. However if we undertake such a route, we would miss the AuRo deadline (unless we get another extension, God forbid that), but we may have another interesting publication.
I am open to any suggestion.