Changing joint_limits.yaml

Kawasaki-Robotics / khi_robot

ROS KHI robot meta-package

http://wiki.ros.org/khi_robot

BSD 3-Clause "New" or "Revised" License

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Changing joint_limits.yaml #53

Closed r-ym closed 2 years ago

r-ym commented 2 years ago

Hello,

I am currently working on a project where I would like to increase the robot's speed of movement. I was wondering if I could change the max_velocity and max_acceleration fields in the respective joint_limits.yaml file and what would be the most sensible and safe manner to do so? The end-effector load is barely over 0.1 kg and the robot is an RS007 series.

Thank you

MasaoAramoto commented 2 years ago

The max_velocity parameter is high enough. So you should increase the max_acceleration parameter gradually. Please note that too high acceleration may hurt the arm.

r-ym commented 2 years ago

Hello,

Sorry for the late response, tried what you said and was able to tweak results that way. Thank you very much for your time. Will be closing the issue