Control
RL-Based Low-Level Motor Control: Beyond PID/ADRC
In the domain of 1kHz real-time motor control that LLMs cannot replace, we introduce WIM's approach to replacing traditional PID/ADRC manual tuning with reinforcement learning (RL).
Control
The Standard Language of Motor Control: CiA402 Profile
This article explains the CiA402 profile, the motor control standard for industrial robots based on EtherCAT and CANopen. It covers the state machine, Controlword/Statusword bit structures, and operation modes with practical examples.
Control
Improving Robot Position Tracking Accuracy: Acceleration Feedforward Optimization Journey
We share the process of optimizing acceleration feedforward control for a 6-axis robot arm. By using planner acceleration + LPF instead of numerical differentiation, we achieved 21.2% improvement in position RMSE and torque stability simultaneously.
Control
Validating Robot Friction Compensation Effects
We validate the effects of friction compensation and acceleration feedforward on a 6-axis collaborative robot through 160 runs of 2x2 experiments. Friction coefficients were tuned using an AI agent (ralph-loop), and validation experiments were conducted with automated scripts. Friction compensation alone achieved 36% improvement (Cohen's d=1.49), accounting for 93% of total improvement.