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bugfix:AdaRobotCleanup Robot appears to be significantly slower #19

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Stefanos19 opened this issue Apr 14, 2015 · 5 comments
Closed

bugfix:AdaRobotCleanup Robot appears to be significantly slower #19

Stefanos19 opened this issue Apr 14, 2015 · 5 comments
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@Stefanos19
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Robot appears to be significantly slower, maybe because of the new acceleration limits?
@Stefanos19 Stefanos19 added the bug label Apr 14, 2015
@Stefanos19 Stefanos19 changed the title bugfix:AdaRobotCleanup bugfix:AdaRobotCleanup Robot appers to be significantly slower Apr 14, 2015
@Stefanos19
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I think this should be an issue of acceleration limits and controller gains? @mkoval

@Stefanos19 Stefanos19 changed the title bugfix:AdaRobotCleanup Robot appers to be significantly slower bugfix:AdaRobotCleanup Robot appears to be significantly slower Apr 15, 2015
@Stefanos19 Stefanos19 mentioned this issue Apr 15, 2015
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@mkoval
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mkoval commented Apr 16, 2015

We measured these on the real robot:

J1
Velocity Limit: 0.826378
Acceleration Limit: 1.381473

J2
Velocity Limit: 0.832355
Acceleration Limit: 1.444212

J3
Velocity Limit: 0.829634
Acceleration Limit: 1.301641

J4
Velocity Limit: 0.821039
Acceleration Limit: 1.149676

J5
Velocity Limit: 0.816138
Acceleration Limit: 1.053497

J6
Velocity Limit: 0.824977
Acceleration Limit: 1.229417

Here is an example plot:

j6_calibration

@siddhss5
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Is the robot faster now with the correct limits?

@PyryM
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PyryM commented Apr 16, 2015

No the limits were actually too high earlier. This is either as fast as the robot can physically go or as fast as kinova's firmware will let it go.

@Stefanos19
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Fixed with personalrobotics/prpy@21eba0a

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@mkoval @PyryM @Stefanos19 @siddhss5