From c05f16c8e96d7573ca5a9ef4472798a4b23c017e Mon Sep 17 00:00:00 2001 From: Thomas Timm Andersen Date: Fri, 19 Feb 2016 11:59:19 +0100 Subject: [PATCH] Tweaked ur5 PID controller values. Fixes #27 --- config/ur5_controllers.yaml | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/config/ur5_controllers.yaml b/config/ur5_controllers.yaml index 4eab52e..bcfe680 100644 --- a/config/ur5_controllers.yaml +++ b/config/ur5_controllers.yaml @@ -83,12 +83,12 @@ vel_based_pos_traj_controller: action_monitor_rate: 10 gains: #!!These values are useable, but maybe not optimal - 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: 0.1, 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: 0.1, 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: 0.1, i_clamp: 1} + shoulder_pan_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1} + shoulder_lift_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1} + elbow_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1} + wrist_1_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1} + wrist_2_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1} + wrist_3_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1} # state_publish_rate: 50 # Defaults to 50 # action_monitor_rate: 20 # Defaults to 20