Ernesto Posted August 3, 2017 Share Posted August 3, 2017 Hi all, Recently, we have acquired two robot sawyers for research and now we are developing some new dynamic controllers, by using the joint torques functionality of the SDK. The problem is that when zero torques are applied in open loop, the robot does not remain stationary, but moves up. We guess that this behavior is produced because of the gravity compensation module provided by the robot is not accurate enough. We did run the calibration script and, also it improved a little bit, the robot still not behaving correctly. So here, we thought in two possibilities: 1) Modify the mass of some joints. Is this possible? We think it is not, though. 2) Suppress the gravity compensation provided by the SDK and model us that module. We tried 2) using the data provided by the URDF (masses and position of the center of gravity of each joint) but it looks like our model is even worst, too ideal. The question is, have anyone faced up this problem before? Thanks in advance, Ernesto Link to comment Share on other sites More sharing options...
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