Obbart/universal_robots_ros_driver
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Adding a feedforward term and a small amount of I gain to ur5 ros_control. (#255)

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AndyZe
2019-02-26 02:47:30 -06:00
committed by G.A. vd. Hoorn
parent 4f3775d647
commit d631f2fad1
1 changed files with 16 additions and 7 deletions
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23
config/ur5_controllers.yaml
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@@ -74,13 +74,22 @@ vel_based_pos_traj_controller:
state_publish_rate: 125 state_publish_rate: 125
action_monitor_rate: 10 action_monitor_rate: 10
gains: gains:
#!!These values are useable, but maybe not optimal #!!These values have not been optimized!!
shoulder_pan_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1} shoulder_pan_joint: {p: 1.2, i: 0.01, d: 0.1, i_clamp: 1}
shoulder_lift_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1} shoulder_lift_joint: {p: 1.2, i: 0.01, d: 0.1, i_clamp: 1}
elbow_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1} elbow_joint: {p: 1.2, i: 0.01, d: 0.1, i_clamp: 1}
wrist_1_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1} wrist_1_joint: {p: 1.2, i: 0.01, d: 0.1, i_clamp: 1}
wrist_2_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1} wrist_2_joint: {p: 1.2, i: 0.01, d: 0.1, i_clamp: 1}
wrist_3_joint: {p: 1.2, i: 0.0, d: 0.1, i_clamp: 1} wrist_3_joint: {p: 1.2, i: 0.01, 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