Tuning Parameters for Velocity Controller #124
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I've been using the
compliance_controller
, which for reference can be located here:compliance_controller
This is a velocity controller, and hence I've had to do a bit of tuning of the PID parameters that I've found deliver acceptable results. The original issue which led to this is here: #437
Although I'm using the
compliance_controller
, this inherits from thejoint_trajectory_controller
, and so should work for that controller as well (a more typical controller).Here is a copy of the relevant part of my
ur5e_controllers.yaml
, but keep in mind that I'm not expert, and someone with more experience could probably do a better job finding optimal parameters. Further, the performance of these is dependent on the load on the arm, and my arm is carrying about 1.5kg or so.The text was updated successfully, but these errors were encountered: