Rethink Robotics – Sawyer – meets German Engineering

default PD gain

Jianlan

By Jianlan
in Robot

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Jianlan Newbie

Jianlan

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Posted

Hello,

 

I wonder if there are default PD gain for sawyer robot if I want to implement a quick joint space position controller.

Or I have to get them by  diagonal approximation to the inverse mass matrix of the arm?

 

Thanks!

Jianlan

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