Closed yuweiDu closed 2 years ago
Hi @yuweiDu,
Unfortunately the Jaco2 is not very precise and you won't be able to achieve such degrees of precision. The Jaco2 arm's precision is in order of centimeters (~3-4cm, but can be more) in cartesian mode.
We usually recommend using joint velocities if you require more precision, but even then, you won't be able to be super precise. The arm was not built with this requirement in mind.
Best, Felix
Hi!
I am using the topic "/j2s6s300_driver/in/cartesian_velocity" to control my arm but I found that the accuracy was not satisfactory. So I wrote a .cpp script to make the arm do periodic translation movements to verify the accuracy of the controller. I set velocity along y-axis as 0.04m/s or -0.04m/s. And duration=5s which means the end-effector should move 20cm along y-axis. However, I observed that the end of the arm move less than 20cm(approximately 16-17cm). I need high accuracy of the cartesian velocity, so is it better for me to compute joint velocity from desired cartesian velocity using the Jacobian matrix. Thank you! I post the code I used for your information.
The start pose was set like this
rosrun kinova_demo pose_action_client.py -v j2s6s300 mq -- 0.0 0.30 0.20 0.707 -0.707 0 0