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 When I first read this comic, I thought "Awww, how cute!". But then, thoughts of Karthik singing J. Lo's "Love Don't Cost a Thing" started running around through my head, and everything changed. - Travis Hoffman [more] |
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Re: paper: Positional Motion Profiling - Team 900
I found it was very helpful to add acceleration feedforward in addition to velocity feedforward.
It really increased the accuracy of the robot's position during the movement - it went from lagging by 2 inches or more to lagging by 0.5 inches at most. without it, I also saw the robot experience almost double the jerk that I specified. 
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