hpm_mcl_hybrid_ctrl.c File Reference

#include "hpm_mcl_hybrid_ctrl.h"
#include <math.h>

Functions
void	mcl_hybrid_ctrl_init (mcl_hybrid_ctrl_cfg_t *cfg)
	Initialize hybrid control parameters with default values. More...
void	mcl_hybrid_ctrl_step (const mcl_hybrid_ctrl_cfg_t *cfg, mcl_hybrid_ctrl_state_t *state)
	Execute one step of hybrid control. More...

Function Documentation

mcl_hybrid_ctrl_init()

void mcl_hybrid_ctrl_init

(

mcl_hybrid_ctrl_cfg_t *

cfg

)

Initialize hybrid control parameters with default values.

Default values:

• kp = 0.0 N*m/rad
• kd = 0.0 N*m*s/rad
• tau_ff = 0.0 N*m
• q_des = 0.0 rad
• dq_des = 0.0 rad/s
• tau_max = 0.0 N*m (no limit)
• tau_min = 0.0 N*m (no limit)
• speed_lpf_alpha = 0.0 (disabled)
• speed_deadzone = 0.0 (disabled)

Parameters

cfg	Pointer to configuration structure

mcl_hybrid_ctrl_step()

void mcl_hybrid_ctrl_step	(	const mcl_hybrid_ctrl_cfg_t *	cfg,
		mcl_hybrid_ctrl_state_t *	state
	)

Execute one step of hybrid control.

Implements hybrid force-position control algorithm: tau = tau_ff + kp * (q_des - q) + kd * (dq_des - dq)

This is essentially a PD controller with feedforward torque, providing impedance/compliance control suitable for:

• Robot joint control
• Servo system control
• Force-sensitive manipulation
• Compliant interaction with environment