Universal Robots Forum

Servoj PD control

When using the gain parameter in servoJ() command it is said that it acts like proportional gain. Is there a possibility of implementing a PD control using servoj that doesn’t have the same values of gains for every element, instead P and D parameters can be adjusted based on the needs?

Hi @RobotNoob,

Have you taken a look at the lookahead_time parameter for the servoj function?

I will look into it and see if it gives me the desired behavior or not.