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libgazebo_ros_control joints behaviour

asked 2019-08-29 09:41:34 -0600

Eisenhorn gravatar image

Hello,

I am simulation an arm and i am using the libgazebo_ros_cobntrol plugin for gazebo.

For the tranmssion acturators I use a tag like this

  <transmission name="arm_joint_5_joint_transmssion">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="arm_joint_5">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="arm_joint_5_motor">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
        <mechanicalReduction>1</mechanicalReduction>
    </actuator>

What I have noticed is that no matter the mu/mu2 and dampening values the actuator has a behaviour as if the gear is self-locking. Even if throw an object at it and unload the trajectory controller the arm will stay in the same position after bouncing a little bit.

I would like a behaviour that the arm gives in if it is not actuated. Is this possible?

BR

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answered 2019-08-29 09:56:22 -0600

kumpakri gravatar image

You want to use PositionJointInterface exactly when you need the arm to stay at the given position no matter what. Maybe consider using EffortJointInterface instead.

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Ok, so that is intended behaviour. With the EffortJointInterface I could trigger the arm to collapse, but only if I unload the controller. Unfortunately thats not what I want. I would like to test the joint_tracetroy hold mode (see https://answers.ros.org/question/3310...)

Eisenhorn gravatar imageEisenhorn ( 2019-08-30 04:08:53 -0600 )edit
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Asked: 2019-08-29 09:41:34 -0600

Seen: 47 times

Last updated: Aug 29