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ROBOTIS-GIT / open_manipulator

OpenManipulator for controlling in Gazebo and Moveit with ROS
http://emanual.robotis.com/docs/en/platform/openmanipulator/
Apache License 2.0
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Problem with Current-based Position Control mode #135

Closed morusa closed 4 years ago

morusa commented 4 years ago

Hi

I am use the robot in Current-based Position Control mode works well, I was able to limit the torque to the required parameters.

But there is a problem of "tremors." Please watch the following video.

https://youtu.be/DCceEq14ttU

These tremors according to my analysis are due to the "backlash" of the servomotor gear.

please, with all the experience you have, what parameters could you adjust to eliminate this trembling behavior?

If I return the robot to position_mode the behavior is perfect, but how can I monitor the current that each servomotor is demanding? In order to protect the servomotors when the user tries to move the arm in a direction where an obstacle is found.

JaehyunShim commented 4 years ago

@morusa

You can change the position PID gains for your motors with Dynamixel Wizard. If the d gain is set to 0, increase it to reduce the tremors. Test it and let us know the result.

Regards, Ryan

JaehyunShim commented 4 years ago

As there have been no updates, I will close this issue.

Ryan