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TimSchneider42 / franky

High-Level Motion Library for Collaborative Robots
https://timschneider42.github.io/franky/
GNU Lesser General Public License v3.0
33 stars 9 forks source link

Question about cartesian control #4

Closed jc211 closed 9 months ago

jc211 commented 9 months ago

This is an awesome fork! Thanks for sharing it. I was wondering if you've had problems with the cartesian control. Specifically, we randomly get joint acceleration and velocity discontinuity errors when using frankx. Has that been your experience too? Do you use a realtime kernel for this?

Thanks again for the great work.

TimSchneider42 commented 9 months ago

Hi, glad you like this project. The discontinuity errors are a common occurrence when using cartesian control. I noticed that things got better once I switched to a Franka Research 3 and updated the firmware. Apart from that, you can use robot.recover_from_errors() to implement an automatic recovery procedure. What I did specifically was to catch the discontinuity errors, call robot.recover_from_errors() and autonomously moved the robot into a recovery pose with reduced dynamics. Best, Tim