24.05.13 Progress Meeting

[ssutjipto]

Chair:

@ssutjipto

Attendees:

@Woolfrey
@ssutjipto

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Announcements

Nothing to announce.

Agenda

Note: Last week's actions become this week's agenda

Item	Responsible	Issue	Outcome
Resolve server base class structure	@Woolfrey	Link	Solution found for issue, now uses template class
Check indenting, resolve issue when complete	@ssutjipto	#103	Will do after this meeting
Begin work on dynamic controller	@ssutjipto		In progress

Additional Discussion

Topic	Raised By	Issue	Outcome
What is the physical interpretation of the weighting in the non-redundant Cartesian control optimisation	@Woolfrey @ssutjipto		Still requires further discussion, issue will be created and linked here
Namespace for classes	@Woolfrey		Issue will be created and linked here

Actions

Action	Responsible	Tag
Create class member for joint damping vector	@ssutjipto
Continue ActionServer base class	@Woolfrey	Link

[Woolfrey]

Add this to the code for the redundant dynamic control:

Bruyninckx, H., & Khatib, O. (2000, April). Gauss' principle and the dynamics of redundant and constrained manipulators. In Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No. 00CH37065) (Vol. 3, pp. 2563-2568). IEEE.