controls design: quasi-torque control for FRC motors [updates]
So I've been wondering, because of CHIP, how we could do something like torque-control on a robot platform like that one. The reason being, those motors don't really come with torque control right so I assumed it might be hard to do that.
I think we actually can do torque control (maybe something to try over the summer), with a schema like the one above. If we use closed-loop current control and if we know the motor's torque constant which we can measure. Then we can use closed-loop current control to produce a torque signal to the motor, and feed-back the position, the omega, and the current going to the motor and re-scale that to feedback the torque.
Don't know if it would work but it might be worth a shot to try it when designing the new actuator.