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hans-robot / elfin_robot

ROS meta-package for Elfin robot
http://wiki.ros.org/Robots/Elfin
BSD 3-Clause "New" or "Revised" License
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PID values for controlling Elfin robot with using Effort Interface #34

Open arianwu opened 1 year ago

arianwu commented 1 year ago

Hi, I am currently trying to implement a controller for the Elfin5 robot using a PD+gravity compensation controller, for that, I need to use the already available Effort Interface. Still, I need to tune the parameters for the PID of each joint. I wanted to know if there are any recommended PID values for each joint as well as the i_clamp value and whether to use anti-windup or not.

Thank you.

crNewton commented 1 year ago

Using arm_controllers/GravityCompController It works for me with pid & i_clamp values of 0. It does require some force to move the robot, so It would benefit from optimized parameters.