Open jbeck28 opened 4 years ago
I asked @jbeck28 to post this here.
Connects to the discussion in #119.
@jbeck28
Without having a deeper look into the compliance_controller implementation: Can you estimate how well those optimizations can be transferred to a pure velocity controller?
I guess especially the weight issue is strongly connected to the compliance implementation?
From my understanding of the compliance_controller, it inherits from the joint_trajectory_controller, and therefore when compliance is disabled it should behave exactly the same.
Weight does make a big difference for compliance, but I did all this tuning without any compliance. I just figured weight might influence the choice of PID values, even for a more typical controller.
I've been using the
compliance_controller
, which for reference can be located here: compliance_controllerThis is a velocity controller, and hence I've had to do a bit of tuning of the PID parameters that I've found deliver acceptable results. The original issue which led to this is here: #437
Although I'm using the
compliance_controller
, this inherits from thejoint_trajectory_controller
, and so should work for that controller as well (a more typical controller).Here is a copy of the relevant part of my
ur5e_controllers.yaml
, but keep in mind that I'm not expert, and someone with more experience could probably do a better job finding optimal parameters. Further, the performance of these is dependent on the load on the arm, and my arm is carrying about 1.5kg or so.