UR5 keeps falling down with velocity controller

asked 2022-05-26 07:41:15 -0500

CroCo gravatar image

I'm trying to simulate UR5 with velocity controller (i.e. ros controllers package) but it seems for zero setpoint, the gravity is pulling the platform down as shown in the below picture. I've searched the internet and the only solutions I've found are 1- using position and velocity controllers with switch mechanism o that at zero-velocity, the position will take over. Second, turning the gravity off for each link. I'm wondering if this is a normal behavior. I'm using Gazebo 9 and Melodic. Your help is appreciated.

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