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Originally Posted by Jay Lundy
Well by oscillate a little, he meant it overshot a few inches then returned to it's target spot. In theory it would have a damped oscillation that continued infinitely, but since this is all digital the oscillation dampened quickly and disappeared.
If you were at SVR you probably saw our arm. A lot of programming went into keeping that monster controllable.
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A description of the physics of what I am referring to can be found at:
http://hyperphysics.phy-astr.gsu.edu/hbase/oscda.html
by using an electrical damping term, not depending on mechanical
damping, you can get improved speed and control, subject to any slop
in the mechanism, of course.