Obbart/universal_robots_ros_driver
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Tuned PID values to work with a real robot

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Thomas Timm Andersen
2015-10-20 14:23:15 +02:00
parent a918626dad
commit 806548dd80
3 changed files with 13 additions and 13 deletions
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12
config/ur10_controllers.yaml
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@@ -83,12 +83,12 @@ vel_based_pos_traj_controller:
action_monitor_rate: 10 action_monitor_rate: 10
gains: gains:
#!!These values are useable, but maybe not optimal #!!These values are useable, but maybe not optimal
shoulder_pan_joint: {p: 20.0, i: 0.0, d: 0.7, i_clamp: 1} shoulder_pan_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
shoulder_lift_joint: {p: 20.0, i: 0.0, d: 0.7, i_clamp: 1} shoulder_lift_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
elbow_joint: {p: 20.0, i: 0.0, d: 0.7, i_clamp: 1} elbow_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
wrist_1_joint: {p: 20.0, i: 0.0, d: 0.7, i_clamp: 1} wrist_1_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
wrist_2_joint: {p: 20.0, i: 0.0, d: 0.7, i_clamp: 1} wrist_2_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
wrist_3_joint: {p: 20.0, i: 0.0, d: 0.7, i_clamp: 1} wrist_3_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
# state_publish_rate: 50 # Defaults to 50 # state_publish_rate: 50 # Defaults to 50

12
config/ur5_controllers.yaml
View File

@@ -83,12 +83,12 @@ vel_based_pos_traj_controller:
action_monitor_rate: 10 action_monitor_rate: 10
gains: gains:
#!!These values are useable, but maybe not optimal #!!These values are useable, but maybe not optimal
shoulder_pan_joint: {p: 20.0, i: 0.0, d: 0.7, i_clamp: 1} shoulder_pan_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
shoulder_lift_joint: {p: 20.0, i: 0.0, d: 0.7, i_clamp: 1} shoulder_lift_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
elbow_joint: {p: 20.0, i: 0.0, d: 0.7, i_clamp: 1} elbow_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
wrist_1_joint: {p: 20.0, i: 0.0, d: 0.7, i_clamp: 1} wrist_1_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
wrist_2_joint: {p: 20.0, i: 0.0, d: 0.7, i_clamp: 1} wrist_2_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
wrist_3_joint: {p: 20.0, i: 0.0, d: 0.7, i_clamp: 1} wrist_3_joint: {p: 20.0, i: 0.0, d: 0.1, i_clamp: 1}
# 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

2
launch/ur10_ros_control.launch
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@@ -25,7 +25,7 @@
</node> </node>
<!-- Load controller settings --> <!-- Load controller settings -->
<rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/> <rosparam file="$(find ur_modern_driver)/config/ur10_controllers.yaml" command="load"/>
<!-- spawn controller manager --> <!-- spawn controller manager -->
<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"