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Compensate gravity in velocity control (and others) #23

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alessandrosettimi opened this issue Nov 5, 2013 · 1 comment

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Type: Enhancement

Contributor

alessandrosettimi commented Nov 5, 2013

The real velocity of the joint is influenced by the gravity. We should compensate it with a control loop, since the gazebo pids cannot.

Member

EnricoMingo commented Nov 5, 2013

Gravity compensation comes out with torque so we need torque control to do this.

EnricoMingo closed this as completed

lorejam mentioned this issue

gazebo_yarp_controlboard crashes on Ubuntu 12.04 when activating callback #71

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