From 1b1972891c90dfe643ddd7381da3eff2ba92e5d5 Mon Sep 17 00:00:00 2001 From: Miguel Prada Date: Mon, 5 Nov 2018 16:21:19 +0100 Subject: [PATCH] Add velocity feedforward and reduce PID gains for UR10 joint trajectory controller (#228) --- config/ur10_controllers.yaml | 24 ++++++++++++++++-------- 1 file changed, 16 insertions(+), 8 deletions(-) diff --git a/config/ur10_controllers.yaml b/config/ur10_controllers.yaml index 996e3e0ed..14b434047 100644 --- a/config/ur10_controllers.yaml +++ b/config/ur10_controllers.yaml @@ -49,7 +49,7 @@ pos_based_pos_traj_controller: # state_publish_rate: 50 # Defaults to 50 # action_monitor_rate: 20 # Defaults to 20 #hold_trajectory_duration: 0 # Defaults to 0.5 - + # Joint Trajectory Controller ------------------------------- # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller vel_based_pos_traj_controller: @@ -74,14 +74,22 @@ vel_based_pos_traj_controller: state_publish_rate: 125 action_monitor_rate: 10 gains: - #!!These values are useable, but maybe not optimal - shoulder_pan_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1} - shoulder_lift_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1} - elbow_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1} - wrist_1_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1} - wrist_2_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1} - wrist_3_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1} + #!!These values have not been optimized!! + shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} + shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} + elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} + wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} + wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} + wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1} + # Use a feedforward term to reduce the size of PID gains + velocity_ff: + shoulder_pan_joint: 1.0 + shoulder_lift_joint: 1.0 + elbow_joint: 1.0 + wrist_1_joint: 1.0 + wrist_2_joint: 1.0 + wrist_3_joint: 1.0 # state_publish_rate: 50 # Defaults to 50 # action_monitor_rate: 20 # Defaults to 20