Closed Renzo-Mendoza closed 1 year ago
Oh, I see I was using relative angles for the first problem.
For the second issue with torque control, this mode is not available on Jaco1 arms unfortunately
For the second issue with torque control, this mode is not available on Jaco1 arms unfortunately
Is admittance control not available?
I have confirmed that you cannot switch to torque control mode (admittance control) on a Jaco1 arm. These are very old, I don't even know if you can upgrade to a more recent firmware than 5.1.0
Oh I see, Is there another way to send torque comands?
I don't think so. Torque control is simply not supported on Jaco1 arms
Sorry for the inconvenience
Hello,
I am currently working with the Jaco1 and its firmware version 5.1.0 with ROS Noetic on Ubuntu 20.04. and I would appreciate some help with a couple of problems.
I was testing the joints angular control and I sent the arm at home position and registered these values, then I tried to place the arm to a position close to this with the following command: _$ rosrun kinova_demo joints_actionclient.py -v -r j2n6s300 degree -- 279 170 50 226 93 80 However, the arm moved to a different position with the following values: jnt1 - 307.8, jnt2 - 440.8, jnt3 - 151.4, jnt4 - 313.9, jnt5 - 278.8, jnt6 - 240.3 What could be happening?
Also for some reason I can't get into torque control mode as it does not respond to the torque commands I send. I have tried the following options with no results:
Thanks!