Skip to content

Latest commit

 

History

History
19 lines (15 loc) · 929 Bytes

NOTES.md

File metadata and controls

19 lines (15 loc) · 929 Bytes

Notes on the demonstration UR-10 pointing

Gazebo simulation

  1. When plugging the reference velocity in the posture task, the robot overshoots the goal configuration. This is due to the difference between the assumed (100 Hz) and the actual (143 Hz) frequencies of the stack of tasks.

  2. To fix 1., the control period specification has been added in the xacro file: <controlPeriod> 0.01 </controlPeriod>. After this fix, following a planned motion with 0 gain in the SoT (testing the reference velocity), we observe that the robot still overshoots the reference trajectory. The gap seems to appear at the beginning of the motion and then the error remains approximately constant.

  3. After the end of a motion, the task 'posture_keep' seems to take as the reference value the position of the arm at the end of the motion. It would better if it took the reference position of the last trajectory.