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how to compensate gravity in gazebo ?

asked 2015-02-28 09:05:08 -0600

babaksn gravatar image

Hi I have set PID controllers in gazebo, now I want to add the gravity compensation. what should I do? actually i want to add offset to the output of PID controllers. is there any topic that i can publish to it ? i'm working on a industrial robot that have 5 joints + gantry ( visual servo ) .

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answered 2015-02-28 16:11:14 -0600

I believe there is no ready-made controller providing PID control with feedforward gravity compensation. You could look into modifying the PID approach you are already using (custom gazebo plugin? gazebo_ros_control?) and adding gravity compensation.

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I would add it either to your 'robot driver', or as a separate controller that runs in parallel to the PID. I'd avoid trying to extend the PID implementation, as gravity compensation is model-based, whereas a plain PID is not. More details on your approach would help, as Stefan points out.

Adolfo Rodriguez T gravatar image Adolfo Rodriguez T  ( 2015-03-02 07:42:28 -0600 )edit

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Asked: 2015-02-28 09:05:08 -0600

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Last updated: Feb 28 '15