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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 ) .
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.
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.
Asked: 2015-02-28 09:05:08 -0500
Seen: 1,612 times
Last updated: Feb 28 '15
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