Software Support; Control Characteristics - Unitree GO-M8010-6 User Manual

6. Software Support

SDK supports the following platforms and systems:
1) Linux system under platform x86/x64
2) Linux system under platform ARM32/ARM64
With each support, a code example of C++ is provided, and users only need to follow the example to complete
the control of the motor.
 Detailed SDK please download in https://github.com/unitreerobotics.

7. Control Characteristics

As a highly integrated power unit, Go motor has encapsulated the underlying control algorithm. Users only
need to send the relevant command to the joint motor, and then the motor can complete the torque output from the
command to the joint.
5 motor control commands included as follow:
1) Feedforward Torque:Tff
2) Specify Angle Position:Pdes
3) Specify Angular Velocity:ωdes
4) Position Stiffness:kp
5) Speed Stiffness (damping):kd
In the hybrid control of joint motor, users provide deviation feedback of the motor at the output position to the
torque output by using PD controller.
T is the motor rotor output torque of the joint motor, P is the current angular position of the motor rotor, and
ω is the angular velocity of the motor rotor.
In the actual use of the joint motor, attention need to be paid to the conversion of the control target amount of
the motor output and the command of the motor rotor sent.
 For specific motor control manual, please refer to "Motor User Manual GO-M8010-6".
Reserve the right to update the contents without prior notice.
You can check the latest version of the User Manual
on the Unitree Robotics official website.
https://www.unitree.com/cn
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GO-M8010-6 Motor User Manual
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