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frankaemika / libfranka

C++ library for Franka research robots
https://frankaemika.github.io
Apache License 2.0
221 stars 147 forks source link

Robots keep getting "power_limit_violation" error. #143

Open trannguyenle95 opened 9 months ago

trannguyenle95 commented 9 months ago

Hi @frankaemika,

I have a question regarding the "power limit violation". We tried to run our custom-made controller for the robot to follow a trajectory at a pretty high speed. Sometimes it works, however, we often get the "power_limit_violation" error.

We checked the docs and it says "If the maximum allowed power is reached, the power_limit_violation will be triggered. It will prevent the robot from moving and continuing the control loop." Can you elaborate on what is "maximum allowed power" here? What could be the cause of this problem? Can you provide any hints for solving this?

P/s: The error happens on both Franka 2 and 3 but mostly Franka 2.

chaitanyantr commented 5 months ago

Hi @trannguyenle95 ,

Did you figure out any solution for this? I'm getting "power_limit_violation" as well.

setup:- Franka panda. ubuntu 22 ROS2 Python FCI Active mode

trannguyenle95 commented 5 months ago

Not really, in the end, I had to execute my trajectory in a slower manner.