mcl_hybrid_ctrl_cfg_t Struct Reference

Hybrid Force-Position Control Library. More...

#include <hpm_mcl_hybrid_ctrl.h>

Data Fields
float	kp
float	kd
float	tau_ff
float	q_des
float	dq_des
float	tau_max
float	tau_min
float	speed_lpf_alpha
float	speed_deadzone

Detailed Description

Hybrid Force-Position Control Library.

This library implements the hybrid control algorithm for force-position control: tau = tau_ff + kp * (q_des - q) + kd * (dq_des - dq)

Features:

• Simple single-function API
• Real-time parameter adjustment
• Impedance/compliance control
• Suitable for robot joint control and servo systems

Hybrid control parameters structure

Field Documentation

dq_des

float mcl_hybrid_ctrl_cfg_t::dq_des

Desired joint velocity (rad/s), typically 0 for position control

kd

float mcl_hybrid_ctrl_cfg_t::kd

Damping gain (N*m*s/rad)

kp

float mcl_hybrid_ctrl_cfg_t::kp

Position stiffness gain (N*m/rad)

q_des

float mcl_hybrid_ctrl_cfg_t::q_des

Desired joint position (rad)

speed_deadzone

float mcl_hybrid_ctrl_cfg_t::speed_deadzone

Speed deadzone (rad/s), speed < deadzone will be set to 0

speed_lpf_alpha

float mcl_hybrid_ctrl_cfg_t::speed_lpf_alpha

Speed low-pass filter coefficient (0-1), 0 = disabled, typical 0.05

tau_ff

float mcl_hybrid_ctrl_cfg_t::tau_ff

Feedforward torque for gravity compensation (N*m)

tau_max

float mcl_hybrid_ctrl_cfg_t::tau_max

Maximum output torque limit (N*m), 0 = no limit

tau_min

float mcl_hybrid_ctrl_cfg_t::tau_min

Minimum output torque limit (N*m), 0 = no limit

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The documentation for this struct was generated from the following file:

• /home/docs/checkouts/readthedocs.org/user_builds/hpm-sdk/checkouts/latest/middleware/hpm_mcl_v2/core/control/hpm_mcl_hybrid_ctrl.h