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UR3: setting ros_control PID gains and adding a feedforward term. (#222)

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AndyZe
2018-11-01 11:07:30 -05:00
committed by G.A. vd. Hoorn
parent a6dca0ce7e
commit 0a5ed0fbda
1 changed files with 15 additions and 8 deletions
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23
config/ur3_controllers.yaml
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@@ -1,5 +1,3 @@
# Currently simply a copy of ur5_controllers.yaml
# Settings for ros_control control loop # Settings for ros_control control loop
hardware_control_loop: hardware_control_loop:
loop_hz: 125 loop_hz: 125
@@ -77,12 +75,21 @@ vel_based_pos_traj_controller:
action_monitor_rate: 10 action_monitor_rate: 10
gains: gains:
#!!These values have not been optimized!! #!!These values have not been optimized!!
shoulder_pan_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1} shoulder_pan_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
shoulder_lift_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1} shoulder_lift_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
elbow_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1} elbow_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
wrist_1_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1} wrist_1_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
wrist_2_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1} wrist_2_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
wrist_3_joint: {p: 50.0, i: 0.0, d: 0.1, i_clamp: 1} wrist_3_joint: {p: 5.0, i: 0.05, d: 0.1, i_clamp: 1}
# Use a feedforward term to reduce the size of PID gains
velocity_ff:
shoulder_pan_joint: 1.0
shoulder_lift_joint: 1.0
elbow_joint: 1.0
wrist_1_joint: 1.0
wrist_2_joint: 1.0
wrist_3_joint: 1.0
# state_publish_rate: 50 # Defaults to 50 # state_publish_rate: 50 # Defaults to 50
# action_monitor_rate: 20 # Defaults to 20 # action_monitor_rate: 20 # Defaults to 20