ahzahra Posted July 31, 2017 Share Posted July 31, 2017 Hello everyone, Was hoping someone could help me with a problem I'm having. I'm attaching a ~2.8 Kg load to Sawyer's end effector via the Clicksmart Plate, and I'm trying to use Moveit! in ROS to move the arm around while the payload is attached. In doing so, however, I encounter the following problems: 1) The arm often stops executing a trajectory early and the joint trajectory action server node gives the following error: Robot arm in Error state. Stopping execution. 2) The arm violates the path tolerances when executing the trajectory 3) The path executed is very very noisy My theory is that the motor controllers are not accounting for the added load on the end effector, which could definitely mess up the trajectory execution. I tried rebooting the robot in Intera Mode, and following the tutorial of setting up a custom end effector, but when I restart the robot in SDK mode, the robot still experiences the same problem . Anyone know how to fix this? Link to comment Share on other sites More sharing options...
ahzahra Posted August 1, 2017 Author Share Posted August 1, 2017 I was able to find the link below, which shows that this problem can be solved for the Baxter robot. I wonder if there's a similar solution for the Sawyer? https://groups.google.com/a/rethinkrobotics.com/forum/#!topic/brr-users/sijO1WaEIyI Link to comment Share on other sites More sharing options...
Kazfyx Posted November 13, 2017 Share Posted November 13, 2017 Hi, ahzahra Have you solved the problem? I think I get trouble in a similar problem. Link to comment Share on other sites More sharing options...
Recommended Posts
Archived
This topic is now archived and is closed to further replies.