Wrong acceleration values

MankaranSingh

Using root/Control/actuatorControlLoops/actuatorControlLoop01/actualAccelerationFiltered

red is acceleration, green is position.

MankaranSingh

It seems like velocity signal gets a bit noisy and it messes up the derivative, i.e. acceleration. I took the derivative of velocity on my side which resulted in same curve.

Philippe

The acceleration signal is calculated by differentiating the position signal from the encoder. Depending on the encoder resolution, the asmple rate and the noise the acceleration signals is more or less noisy.
You can filter this signal by adjusting the "omega" parameter (rad/s) of the accleration filter to a level that is adequate for your application.

Philippe

Looking at your position signal:

This does not look very smooth and impacts the quality of the velocity and acceleration signal.
Do you have a lot of jitter on the cycle time (see fon instance the root/Fieldbus_task/actual_cycle_max
)? Are you running MCX-RTOS? On which hardware? If you use RaspberryPi we know that realtime performance is not very good.

MankaranSingh

Philippe iil take a look at this. The robot structure is a bit flexible / non rigid that affects the overall performance. a lot of this is depending on the drive tuning/controller configuration too. but decreasing the sample rate fixed the acceleration for now.

MankaranSingh

Philippe the actual_cycle_max parameter is usually around 1000 - 1015