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robotology / icub-tech-support

Virtual repository that provides support requests for individual robots
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iCubGenova09 (iRonCub3) S/N:000 – Backlash in the right shoulder arm support #1769

Closed gabrielenava closed 1 month ago

gabrielenava commented 3 months ago

Robot Name 🤖

iCubGenova09 (iRonCub3) S/N:000

Request/Failure description

There is backlash in the support of the right shoulder joints.

Detailed context

When the robot arm is rigid (position control) and a person tries to move the shoulder joints, we can see a backlash between the shoulder and its support (in the figure below). This backlash is only on the right shoulder, while on the left shoulder is not present (maybe because of the intervention done in https://github.com/robotology/icub-tech-support/issues/1692)

MicrosoftTeams-image (1)

I have tried to screw the accessible screws and the situation improved. I think it might be just a matter of screwing the remaining screws, but they are not accessible. We need to unmount part of the arm to do it, so I open this issue for asking support.

cc @DanielePucci

Additional context

No response

How does it affect you?

It affects iRonCub experiments.

AntonioConsilvio commented 2 months ago

Hi @gabrielenava, As mentioned in this issuee:

I have performed a complete tightening check of all screws, let me know if the problem has been solved!

gabrielenava commented 2 months ago

thank you @AntonioConsilvio!

AntonioConsilvio commented 1 month ago

Closing for this comment: