Hi,
I have successfully run the script admittance_control.script. It’s amazing!
admittance_control.script demo link:
But when i drag the TCP, the robot emits a humming sound. The humming intensifies when dragging rapidly.
Is this normal behavior ?
My robot :
robot mode: UR5e
tcp mass: 4KG
tcpoffset=[135.76，135.76，126.51，0.0146，0.0437，-2.3713]
My input params:
mass_scaling = 0.5
damping_scaling = 0.5
mass_list = [40, 40, 40, 4, 4, 4]
damping_list = [120, 120, 120, 12, 12, 12]
dead_band = [3, 0.1, 3, 0.1]
compliance_vector = [1, 1, 1, 1, 1, 1]
stiffness_params = [0, 0, 0, 0, 0, 0]
target_wrench = [0, 0, 0, 0, 0, 0]
base_to_compliance_frame = p[0, 0, 0, 0, 0, 0]
tool_flange_to_compliance_center = get_tcp_offset()
Thanks!
