Change the Sunrise (Java) Kuka code to apply joint velocity commands.
If the velocity command is [0,0,0,0,0,0,0] (default) I believe the robot behaves equivalently. Applying the velocity command allows for smoother motions with our arm_robots controller because we desire tight control with waypoint distances that too small given the relatively large time lag our controller (tens of ms).
This change will be related to an arm_robots change coming soon
PeterMitrano
commented
3 years ago
Change the Sunrise (Java) Kuka code to apply joint velocity commands.
If the velocity command is [0,0,0,0,0,0,0] (default) I believe the robot behaves equivalently. Applying the velocity command allows for smoother motions with our
arm_robotscontroller because we desire tight control with waypoint distances that too small given the relatively large time lag our controller (tens of ms).This change will be related to an
arm_robotschange coming soon