Ballistic Jacobian tuning lands robot's first airmail after iterative depth fixes
ki_ki_ki1 · x · 2026-10-14
Part 6/9 of the bimanual robot airmail series: with a 132k power-clamp, Throw #2 held with zero slip (+42 cm long). Stereo feedback plus a Ballistic Jacobian fixed depth to +2 cm on #3, walked three straight bags to 7.3 cm on #4–#6, and swished the first airmail on #7. Follow-up on 5/9: slow-mo wrist cam showed 9.4 N pull beating a 4.1 N half-open grip at 5.16 rad/s, fixed by locking all 22 joints to 132k mdeg (18.5 N).
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