Hello, I am trying to control to design a MPC controller for UR5e. I am using a kinematic model controlling the input velocity of the robot. To check and validate the response of the system against my simulation model, I gave a trapezoidal input velocity command @ 125 Hz and observed the following with different accelerations.
As I change the acceleration, the velocity achieved by the manipulator is getting capped at around 0.15 rad/s. Acceleration is not an issue as it ramps up comfortably even at 2.0 rad/s^2 till it reaches around 0.15 rad/s and then stops accelerating. What could be the reason for it? Is there any velocity limit at a particular communication frequency? The code snippet I used is given below. Is there something wrong with my code?
I would appreciate your guidance and response.