dynamixel motor smooth motion

asked 2014-10-13 21:39:23 -0500

AlexKolb gravatar image

Hi there

i just purchased a Dynamixel RX-24F motor to move a hokuyo laser scanner in order to get 3d point clouds. Right now im using dynamixel_motor package, and i set up a position controller with these parameters:

    package: dynamixel_controllers
    module: joint_position_controller
    type: JointPositionController
joint_name: tilt_joint
joint_speed: 0.2
    id: 1
    init: 512
    min: 0
    max: 1023
joint_compliance_slope: 254
joint_compliance_punch: 1

I really want to move the motor really slow to achieve a dense point cloud, but when the motor is moving at these speeds its like a slip stick motion.

Is there a way to get the motion more smooth with the dynamixel motor package, maybe with a trajectory controller or is there a better solution out there to control the motor.

thanks Alex

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Just mark, I am doing the same thing with you , but my dynamixel mx-64ar can not be found by roboplus......stucks me one week.......

Wine gravatar image Wine  ( 2015-04-02 00:46:49 -0500 )edit