These questions are related to ros_controllers represented in the ur3_controllers.yaml file. Specifically the pos_joint_traj_controller, vel_joint_traj_controller and joint_group_vel_controller. In the first part I ask questions about the 3 controllers separatly. This is also to validated my compre…

I am interested in this as well!

I’ll try to explain things a bit further… First of all, the driver supports both, commanding positions or velocities. In case of positions a servoj command will be used here where the servoj target will be updated by the ROS side. In case of velocity commands, speedj is used to set the robot’s j…

Thank you for your great explanation! Does the speedj implementation compensates for gravity with the payload mass and COG? I hope that this clarifies a lot of things, ideally we would get a document out of this, that we can add to the driver’s documentation. That would be awesome!

[image] CaptainYoshi: Does the speedj implementation compensates for gravity with the payload mass and COG? I would assume, it does, as it is controlling a joint speed. If the speed gets higher due to gravity pulling a joint down, currents should be reduced to achieve the desired velocity. Bu…

Hi,I have two questions. I want to use the vel_joint_traj_controllerr to control ur5 constant motion (the end link keep one speed).I send a string points with constant vel but i cannot get constant motion. what can i do, i need change the pid values or …? I try use the joint_group_vel_controller t…

[image] jixianchengcare: h！ Answered inside Ur5 constant motion

Choosing the right controller

ROS

mauch May 13, 2021, 2:47pm 7

Answered inside Ur5 constant motion

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Choosing the right controller

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