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robotology / icub-tech-support

Virtual repository that provides support requests for individual robots
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Right shoulder yaw motor moves suddenly when the lower arm is touched #1696

Closed GiulioRomualdi closed 6 months ago

GiulioRomualdi commented 7 months ago

Robot Name 🤖

ergoCub 1.1 S/N:001

Request/Failure description

While touching the lower arm the shoulder yaw started moving. The motor was controlled in position

Detailed context

https://github.com/robotology/icub-tech-support/assets/16744101/3859c3be-e971-4439-9908-b925b8fe2e00

Additional context

No response

How does it affect you?

No response

maggia80 commented 7 months ago

@AntonioConsilvio let's change the https://github.com/robotology/robots-configuration/blob/master/ergoCubSN001/hardware/motorControl/right_arm-eb3-j2_3-mc_service.xml replacing AMO with NONE

AntonioConsilvio commented 7 months ago

@AntonioConsilvio let's change the https://github.com/robotology/robots-configuration/blob/master/ergoCubSN001/hardware/motorControl/right_arm-eb3-j2_3-mc_service.xml replacing AMO with NONE

Hi @maggia80, I did it and now it works properly.

cc @GiulioRomualdi

sgiraz commented 6 months ago

Ok, after disabling the AMO sensor the problem is gone. I would close this issue. Thanks @AntonioConsilvio!

cc @GiulioRomualdi