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JorgeFernandes-Git / zau_bot

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AGV made small moves when the manipulator change position #2

Closed JorgeFernandes-Git closed 1 year ago

JorgeFernandes-Git commented 1 year ago

When the manipulator change position, the AGV moves.

Watch this at 40 sec more or less: https://youtu.be/HoutYTb2Ht0?t=44

I'm not sure if it's inertia problems or what could it be. I tried to add more mass to the AGV, but didn't fix it.

@manuelgitgomes did you experience something similar on atlas car?

I can lock the AGV, but if I do that, the teleop stops working. Any ideias?

miguelriemoliveira commented 1 year ago

Hi @JorgeFernandes-Git ,

never saw this. I would say its the mass of the arm pushing the agv.

Can you tell me what's the weight of the arm and of the agv? Are these realistic settings?

Try to increase the mass of the agv ... does it still occur?

JorgeFernandes-Git commented 1 year ago

Hello @miguelriemoliveira,

I gave 45 kg to the AGV and the UR5 is 15 kg more or less. I'll increase the mass of the AGV.

It could have something to do with the wheels too. I'll improve the AGV file.

For now, I link the AGV to world, to perform the initial calibrations (e0 e e1).

manuelgitgomes commented 1 year ago

Hello to both!

The only thing similar I have experienced is an incorrect movement of the wheels in atlascar.

I believe the answer lied on the inertia parameters, though I might be wrong.

From: Miguel Riem de Oliveira @.***> Sent: 13 February 2023 15:17:04 To: JorgeFernandes-Git/zau_bot Cc: Manuel Gomes; Mention Subject: Re: [JorgeFernandes-Git/zau_bot] AGV made small moves when the manipulator change position (Issue #2)

Hi @JorgeFernandes-Githttps://github.com/JorgeFernandes-Git ,

never saw this. I would say its the mass of the arm pushing the agv.

Can you tell me what's the weight of the arm and of the agv? Are these realistic settings?

Try to increase the mass of the agv ... does it still occur?

— Reply to this email directly, view it on GitHubhttps://github.com/JorgeFernandes-Git/zau_bot/issues/2#issuecomment-1428120245, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AN3VKJGHXUYOMPS2IREX2C3WXJF7BANCNFSM6AAAAAAU2CHUHI. You are receiving this because you were mentioned.Message ID: @.***>

miguelriemoliveira commented 1 year ago

to perform the initial calibrations (e0 e e1).

we should have an issue for each experiment and link to them. You can even copy the image I sent to you of each experiment (or make a better one, should be very easy :) )

JorgeFernandes-Git commented 1 year ago

Yes, I think it has something to do with the wheels too.

Thanks, I'll be giving updates.