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Common::PID settings (joint unable to lift a weight)

Hello everybody,

I am trying to simulate a robot which must lift an object from the ground.

I use a prismatic joint controlled with a plugin. I use JointController class and functions like SetPositionTarget to control it.

When I send a position without an object to lift, the target position is reached. But when I have an object to lift, the target position is not reached. I tried to tune PID values but even with very high values the target position is not reached. I checked the effort limit and the effort sent to the link is ten time lower to the limit (so no limitation from the model).

Is it just a pid settings problem or is there another way to do it.

Thanks in advance