Quote:
Originally Posted by Jared
You could also adjust your gains based on where the arm is.
The way to tune this is to set up three or four different PID loops, each of which are tuned to make the arm respond nicely when going to a specific place. Then, you can take your kP/kI values that work for each of the locations and find a nice curve that fits them and use that curve to modify the gains based on where your arm is.
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apalrd posted the same idea earlier in the thread.
Quote:
Originally Posted by apalrd
-Gain Scheduling. You would have a no-gravity and peak-gravity gainset (kP,kI,kD) and blend them with the angle.
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