[ODE] Servo to reach a target position

[Nate W]

On Wed, 9 Apr 2003, Olivier Michel wrote:

> Since I just want to achieve a target position, I was considering 
> setting the following:
> 
> dParamFMax: to define the maximum acceleration.
> dParamVel: to define the target speed.
> dParamHiStop or dParamLoStop: to define the target position.
>
> Does this sound to be the right way to do position control on servos ? 

Leave the stops out of it.  The forces generated by the stops come from
hard constraints, not from FMax and Vel parameters.

I've described up a pretty good algorithm here in the past, if you search
the list archives for the word "gain" you'll probably find it.

-- 

Nate Waddoups
Redmond WA USA
http://www.natew.com