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A couple of problems related to Teo movements #22
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@rsantos88 I doubt this is related with
That definitely looks like a driver tuning issue. Not that it has a simple solution, we're joint-level PID controllers for changing loads with coupled joints and links (a.k.a. complex multi-body dynamics). |
Sorry @jgvictores . It was a mistake. I meant checkMotionDone(). You have examples in teo-self-presentation demo, with salute movement here. This state call to jointsMoveAndWait which makes use of the checkMotionDone() function. Don't be scared if you see that part of the code regarding the left arm has been commented. This is a temporal solution for the problems caused by the change of piece that is being made for the rotation of the left wrist (like this). |
Please provide feedback after implementing (1) and taking (2) and (3) into account. Thanks! |
Old issue that was blocking is now https://github.com/roboticslab-uc3m/teo-hardware-issues/issues/2 which has also been closed. Unblocking! |
Issue roboticslab-uc3m/teo-hardware-issues#2 was resolved. |
I'm having problems with this:
Could you fix it @jmgarciah? 😇 |
That point is fixed here and probably it works better now. I've to do more tests. |
No more blocked. |
From @rsantos88 on November 14, 2017 17:28
There are a couple of problems related to Teo movements and it can ruin a demonstration (leading to reset it several times... 😓)
We can see that this movement is not executed correctly in certain occasions. The arm finishes the movements early, running all at once and not sequentially. This can produce a freeze of all the demo, because the movement has not finished correctly all the sequence. Can it be a problem with checkMotionDone() function? Why does it works well sometime and sometimes not?
I don't know where I can post this problems, because the first can be a software problem, but the second it can be a tunning motors problem ¿? I don't know
I need some ideas to solve it.
Copied from original issue: roboticslab-uc3m/questions-and-answers#34
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