ilc_controllers.xml 7.57 KB
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<?xml version="1.0" encoding="UTF-8"?>

<pitasc>
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    <models>
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        <type id="p_controller_ilc" prototype="p_controller">
            <meta>
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                <member id="description">P-controller with ILC extension</member>
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                <member id="implementation">
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                    <clone prototype="orocos">
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                        <member id="package">ilc_controllers</member>
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                        <member id="component">PControllerILC</member>
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                        <member id="arguments">gain, limit, filename_ff, data_source, setpoint_generator, coordinates, prefix</member>
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                    </clone>
                </member>
            </meta>
            <data>
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                <type id="gain" prototype="float_parameter">
                    <member id="description">The gain K of the controller</member>
                    <data>0.1</data>
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                </type>
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                <type id="limit" prototype="float_parameter">
                    <member id="description">Limit</member>
                    <data>1.0</data>
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                </type>
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                <type id="filename_ff" prototype="string_parameter">
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                    <member id="description">Filename to be loaded for feedforward</member>
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                </type>
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                <type id="data_source" data_type="parameter:data_source" prototype="base">
                </type>
                <type id="setpoint_generator" data_type="parameter:setpoint_generator" prototype="base">
                </type>
                <type id="coordinates" prototype="string_csv">
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                </type>
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                <type id="prefix" prototype="string_parameter">
                    <meta>
                        <member id="description">Prefix for the coordinates</member>
                    </meta>
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                    <data></data>
                </type>
            </data>
        </type>

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        <type id="velocity_controller_ilc" prototype="velocity_controller">
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            <meta>
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                <member id="description">Simple velocity feed-forward controller</member>
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                <member id="implementation">
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                    <clone prototype="orocos">
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                        <member id="package">ilc_controllers</member>
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                        <member id="component">VelocityControllerILC</member>
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                        <member id="arguments">filename_ff, data_source, setpoint_generator, coordinates, prefix, velocities</member>
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                    </clone>
                </member>
            </meta>
            <data>
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              <type id="filename_ff" prototype="string_parameter">
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                  <member id="description">Filename to be loaded for feedforward</member>
              </type>

                <type id="data_source" data_type="parameter:data_source" prototype="base">
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                </type>
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                <type id="setpoint_generator" data_type="parameter:setpoint_generator" prototype="base">
                </type>
                <type id="coordinates" prototype="string_csv">
                </type>
                <type id="velocities" prototype="float_csv">
                </type>
                <type id="prefix" prototype="string_parameter">
                    <meta>
                        <member id="description">Prefix for the coordinates</member>
                    </meta>
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                    <data></data>
                </type>
            </data>
        </type>

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        <type id="first_order_impedance_controller_ilc" prototype="first_order_impedance_controller">
           <meta>
               <member id="description">first order impedance controller with ILC extension</member>
               <member id="implementation">
                   <clone prototype="orocos">
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                       <member id="package">ilc_controllers</member>
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                       <member id="component">FirstOrderImpedanceILC</member>
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                       <member id="arguments">filename_ff, compliance, f0_hz, update_rate, data_source, setpoint_generator, coordinates, prefix</member>
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                   </clone>
               </member>
           </meta>
           <data>

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             <type id="filename_ff" prototype="string_parameter">
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                 <member id="description">Filename to be loaded for feedforward</member>
             </type>

             <type id="compliance" prototype="float_parameter">
                 <meta>
                     <member id="description">Compliance [m/(s*N)]</member>
                 </meta>
                 <data>0.0003</data>
             </type>
             <type id="f0_hz" prototype="float_parameter">
                 <meta>
                     <member id="description">Corner frequency in Hz</member>
                 </meta>
                 <data>3.0</data>
             </type>

             <reference id="update_rate" prototype="float_parameter" reference_id="configuration.update_rate"/>
             <type id="data_source" data_type="parameter:data_source" prototype="base">
             </type>
             <type id="setpoint_generator" data_type="parameter:setpoint_generator" prototype="base">
             </type>
             <type id="coordinates" prototype="string_csv">
             </type>
             <type id="prefix" prototype="string_parameter">
                 <meta>
                     <member id="description">Prefix for the coordinates</member>
                 </meta>
                 <data></data>
             </type>
           </data>
       </type>
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       <type id="tanh_controller_ilc" prototype="controller">
           <meta>
               <member id="description">Controller with smoothly saturated output. The controller transfer function is realized using a tanh.
                   The  approx. linear steepness of the tanh is parametrized by defining the gain factor 'P_lin' at 90% of 'max_error'.</member>
               <member id="implementation">
                   <clone prototype="orocos">
                       <member id="package">ilc_controllers</member>
                       <member id="component">TanHControllerILC</member>
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                       <member id="arguments">filename_ff, max_output, P_lin, update_rate, data_source, setpoint_generator, coordinates, prefix</member>
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                   </clone>
               </member>
           </meta>
           <data>
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               <type id="filename_ff" prototype="string_parameter">
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                   <member id="description">Filename to be loaded for feedforward</member>
               </type>

               <type id="data_source" data_type="parameter:data_source" prototype="base">
               </type>
               <type id="setpoint_generator" data_type="parameter:setpoint_generator" prototype="base">
               </type>
               <type id="coordinates" prototype="string_csv">
               </type>
               <type id="prefix" prototype="string_parameter">
               </type>
               <type id="max_output" prototype="float_parameter">
                   <meta>
                       <member id="description">Upper bound on the output value (or L2 norm).</member>
                   </meta>
               </type>
               <type id="max_error" prototype="float_parameter">
                   <meta>
                       <member id="description">Error (L2 norm) at which 90% of max_output is returned.</member>
                   </meta>
               </type>
               <type id="P_lin" prototype="float_parameter">
                   <meta>
                       <member id="description">Equivalent proportional controller in linear region.</member>
                   </meta>
               </type>
           </data>
       </type>

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    </models>
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</pitasc>