Hi, is there any way to send feedforward torques or velocity targets when sending a trajectory via the trajectory upload on the webapp? I am currently listing a sequence of positions in a .traj file and uploading that. If not, are there any listed values for the gains used by the internal controller to track the given trajectory?
Robot: xarm7 model 1302
Thanks,
Krishna
Could you please share the scenario and objective that require streaming position, velocity, and joint torque feed-forward simultaneously?
I am trying to do highly dynamic fast motions with the xarm such as the following:https://drive.google.com/file/d/1Jou50vZmpWxzOxUY7cLLy3pBItvSXYDB/view?usp=sharing. But am noticing a significant tracking error with the trajectory I’m sending to the robot:
here is an example of the .traj file being sent to the robot (renamed as .csv to upload here):
knot.csv (6.7 KB)
If I’m able to specify a desired velocity and a feedforward torque I would be better able to control the arm, let me know if there is anyway for this capability. Thanks!
Krishna
Thanks for the info Krishna, now we understand the issue.
We are trying to modify the PID to reduce the servo motor delay, will let you know the result soon.