hpm_mcl_hybrid_ctrl.h File Reference

#include "hpm_mcl_common.h"

Go to the source code of this file.

Data Structures
struct	mcl_hybrid_ctrl_cfg_t
	Hybrid Force-Position Control Library. More...
struct	mcl_hybrid_ctrl_state_t
	Hybrid control state/output structure. More...

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...
static void	mcl_hybrid_ctrl_set_kp (mcl_hybrid_ctrl_cfg_t *cfg, float kp)
	Set position stiffness gain. More...
static void	mcl_hybrid_ctrl_set_kd (mcl_hybrid_ctrl_cfg_t *cfg, float kd)
	Set damping gain. More...
static void	mcl_hybrid_ctrl_set_tau_ff (mcl_hybrid_ctrl_cfg_t *cfg, float tau_ff)
	Set feedforward torque. More...
static void	mcl_hybrid_ctrl_set_position (mcl_hybrid_ctrl_cfg_t *cfg, float q_des)
	Set desired position. More...
static void	mcl_hybrid_ctrl_set_velocity (mcl_hybrid_ctrl_cfg_t *cfg, float dq_des)
	Set desired velocity. More...
static void	mcl_hybrid_ctrl_set_limits (mcl_hybrid_ctrl_cfg_t *cfg, float tau_min, float tau_max)
	Set output torque limits. More...
static void	mcl_hybrid_ctrl_set_speed_filter (mcl_hybrid_ctrl_cfg_t *cfg, float lpf_alpha, float deadzone)
	Set speed filter parameters. More...
static void	mcl_hybrid_ctrl_set_params (mcl_hybrid_ctrl_cfg_t *cfg, float kp, float kd, float tau_ff)
	Set all parameters at once. More...
static void	mcl_hybrid_ctrl_set_trajectory (mcl_hybrid_ctrl_cfg_t *cfg, float q_des, float dq_des)
	Set desired trajectory. More...
static float	mcl_hybrid_ctrl_get_torque (const mcl_hybrid_ctrl_state_t *state)
	Get output torque. More...
static float	mcl_hybrid_ctrl_get_pos_error (const mcl_hybrid_ctrl_state_t *state)
	Get position error. More...
static float	mcl_hybrid_ctrl_get_vel_error (const mcl_hybrid_ctrl_state_t *state)
	Get velocity error. More...

Function Documentation

mcl_hybrid_ctrl_get_pos_error()

static float mcl_hybrid_ctrl_get_pos_error ( const mcl_hybrid_ctrl_state_t *  state )

inlinestatic

Get position error.

Parameters

state

Pointer to state structure

Returns

Position error (rad)

mcl_hybrid_ctrl_get_torque()

static float mcl_hybrid_ctrl_get_torque ( const mcl_hybrid_ctrl_state_t *  state )

inlinestatic

Get output torque.

Parameters

state

Pointer to state structure

Returns

Output torque (N*m)

mcl_hybrid_ctrl_get_vel_error()

static float mcl_hybrid_ctrl_get_vel_error ( const mcl_hybrid_ctrl_state_t *  state )

inlinestatic

Get velocity error.

Parameters

state

Pointer to state structure

Returns

Velocity error (rad/s)

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_set_kd()

static void mcl_hybrid_ctrl_set_kd ( mcl_hybrid_ctrl_cfg_t *  cfg, float  kd  )

inlinestatic

Set damping gain.

Parameters

cfg	Pointer to configuration structure
kd	Damping gain (N*m*s/rad)

mcl_hybrid_ctrl_set_kp()

static void mcl_hybrid_ctrl_set_kp ( mcl_hybrid_ctrl_cfg_t *  cfg, float  kp  )

inlinestatic

Set position stiffness gain.

Parameters

cfg	Pointer to configuration structure
kp	Position stiffness gain (N*m/rad) Higher value = stiffer, faster response Lower value = more compliant, softer

mcl_hybrid_ctrl_set_limits()

static void mcl_hybrid_ctrl_set_limits ( mcl_hybrid_ctrl_cfg_t *  cfg, float  tau_min, float  tau_max  )

inlinestatic

Set output torque limits.

Parameters

cfg	Pointer to configuration structure
tau_min	Minimum output torque (N*m)
tau_max	Maximum output torque (N*m)

mcl_hybrid_ctrl_set_params()

static void mcl_hybrid_ctrl_set_params ( mcl_hybrid_ctrl_cfg_t *  cfg, float  kp, float  kd, float  tau_ff  )

inlinestatic

Set all parameters at once.

Parameters

cfg	Pointer to configuration structure
kp	Position stiffness gain (N*m/rad)
kd	Damping gain (N*m*s/rad)
tau_ff	Feedforward torque (N*m)

mcl_hybrid_ctrl_set_position()

static void mcl_hybrid_ctrl_set_position ( mcl_hybrid_ctrl_cfg_t *  cfg, float  q_des  )

inlinestatic

Set desired position.

Parameters

cfg	Pointer to configuration structure
q_des	Desired joint position (rad)

mcl_hybrid_ctrl_set_speed_filter()

static void mcl_hybrid_ctrl_set_speed_filter ( mcl_hybrid_ctrl_cfg_t *  cfg, float  lpf_alpha, float  deadzone  )

inlinestatic

Set speed filter parameters.

Parameters

cfg	Pointer to configuration structure
lpf_alpha	Low-pass filter coefficient (0-1), 0 = disabled Smaller value = stronger filtering (e.g., 0.05 for 95% old + 5% new)
deadzone	Speed deadzone (rad/s), speed within [-deadzone, +deadzone] will be set to 0

mcl_hybrid_ctrl_set_tau_ff()

static void mcl_hybrid_ctrl_set_tau_ff ( mcl_hybrid_ctrl_cfg_t *  cfg, float  tau_ff  )

inlinestatic

Set feedforward torque.

Parameters

cfg	Pointer to configuration structure
tau_ff	Feedforward torque (N*m) Used for gravity compensation, friction compensation, etc.

mcl_hybrid_ctrl_set_trajectory()

static void mcl_hybrid_ctrl_set_trajectory ( mcl_hybrid_ctrl_cfg_t *  cfg, float  q_des, float  dq_des  )

inlinestatic

Set desired trajectory.

Parameters

cfg	Pointer to configuration structure
q_des	Desired position (rad)
dq_des	Desired velocity (rad/s)

mcl_hybrid_ctrl_set_velocity()

static void mcl_hybrid_ctrl_set_velocity ( mcl_hybrid_ctrl_cfg_t *  cfg, float  dq_des  )

inlinestatic

Set desired velocity.

Parameters

cfg	Pointer to configuration structure
dq_des	Desired joint velocity (rad/s) Typically 0 for position holding

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.

Control law: tau = tau_ff + kp * (q_des - q_actual) + kd * (dq_des - dq_actual)

Parameters

cfg	Pointer to configuration structure (input)
state	Pointer to state structure (input/output) Input: q_actual, dq_actual Output: tau_output, pos_error, vel_error

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