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Virtual repository that provides support requests for individual robots
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ergoCub 1.1 S/N:001 – Small Jumps in wrist motion during smooth trajectory execution #1948

Open vigisushrutha23 opened 4 weeks ago

vigisushrutha23 commented 4 weeks ago

Robot Name 🤖

ergoCub 1.1 S/N:001

Request/Failure description

While doing some tests for the updated firmware on the wrists with @PasMarra , we observed that the wrist seems to show small jumps while executing minimum jerk trajectories. Unfortunately these are not visible in the plots as reported in #261 .

Detailed context

Here are the videos showing few of the jumps.

https://github.com/user-attachments/assets/b0850da8-38fd-454b-92a3-94a9acff4848

https://github.com/user-attachments/assets/fdb2e437-0e8a-4ffe-bf61-1f9dbd1b2c5e

https://github.com/user-attachments/assets/38df15cf-89b7-43df-b792-4e8a8dfbcdd4

On suggestion mentioned in #261 , it could be a mechanical issue but otherwise I am not sure how to debug this in more detail.

Additional context

No response

How does it affect you?

I suspect this might lead to some cartesian estimation errors and slightly lower-quality grasp/manipulation for longer experiments that need very good precision.

S-Dafarra commented 2 weeks ago

On the 000 a similar thing was caused by one belt jumping between teeth. This ultimately led to the belt breaking: https://github.com/robotology/icub-tech-support/issues/1940