how to make a controller which can track trajectory

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Wan Zihao
Posts: 5
Joined: Sun Jul 12, 2020 1:57 am

how to make a controller which can track trajectory

Post by Wan Zihao » Tue Sep 01, 2020 9:27 am

I have made an exoskeleton model which can be worn on the thigh and pelvis. It can help patient lift his thigh. Through inverse kinematics, I got the data recording how joint angle changes with time. I want the exoskeleton servo motor to follow this curve and adjust the PID. what should I do? Are there any specific examples about this?
Tags:
OpenSim 4.1
Windows
GUI
MATLAB
Python
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Carmichael Ong
Posts: 401
Joined: Fri Feb 24, 2012 11:50 am

Re: how to make a controller which can track trajectory

Post by Carmichael Ong » Thu Sep 03, 2020 10:52 am

There's a ControllerExample provided in the OpenSim repository: https://github.com/opensim-org/opensim- ... xample.cpp

Looks like it might just be PD but could be a good place to start.
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