Velocity-controlled robots cannot back out of singularity

UTNuclearRoboticsPublic / jog_arm

A real-time robot arm jogger.

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Velocity-controlled robots cannot back out of singularity #46

Closed AndyZe closed 6 years ago

AndyZe commented 6 years ago

This was an issue with my yaml config file. singularity_threshold was almost equal to hard_stop_singularity_threshold, so the robot did not have time to slow down before overshooting the singularity.