I am currently utilizing the UR10e arm in velocity control mode and have encountered an issue when attempting to increase the acceleration value. It seems that the joints are unable to keep up with the commanded trajectory, and at high acceleration settings, the error exceeds the defined tolerance. Recognizing that both the payload parameter and PID values can influence this behavior, I have a couple of related queries:
When a payload of UR arm is highly variable and unknown, How can I determine the suitable value for the payload parameter. Considering the dynamic nature of the payload, how can I set the payload parameter effectively?
Furthermore, I am interested in exploring options for fine-tuning the PID values within the velocity control loop of the robot’s arm. Are there any specific methods or procedures available to access and customize the PID values to optimize performance?