Open wei1224hf opened 3 years ago
For example , I send a postion command to move to 100, then the motor will move to 98 , then stop.
to make the motor to move to 100 , I have to read the position all the time, send 100, 101, 102, 103, 104.... and so on until I read the feedback that the postion is at 100
Do you set a large Kp?The greater the Kp value is, the greater the stiffness is, which means that the position is closer to the reference position
For example , I send a postion command to move to 100, then the motor will move to 98 , then stop. to make the motor to move to 100 , I have to read the position all the time, send 100, 101, 102, 103, 104.... and so on until I read the feedback that the postion is at 100
Do you set a large Kp?The greater the Kp value is, the greater the stiffness is, which means that the position is closer to the reference position
The Kp is importent to torque, If I want to use high torque , I must use big Kp. Is there any method to make the motor go with high torque but with 0 stiffness?
You can try adding feedforward torque.
For example , I send a postion command to move to 100, then the motor will move to 98 , then stop. to make the motor to move to 100 , I have to read the position all the time, send 100, 101, 102, 103, 104.... and so on until I read the feedback that the postion is at 100
Do you set a large Kp?The greater the Kp value is, the greater the stiffness is, which means that the position is closer to the reference position
The Kp is importent to torque, If I want to use high torque , I must use big Kp. Is there any method to make the motor go with high torque but with 0 stiffness?
You can try adding feedforward torque.
For example , I send a postion command to move to 100, then the motor will move to 98 , then stop.
to make the motor to move to 100 , I have to read the position all the time, send 100, 101, 102, 103, 104.... and so on until I read the feedback that the postion is at 100