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Change PID gains dynamixel motors

asked 2015-06-26 01:58:01 -0500

miodand4 gravatar image


I am doing some tests with the mx-106 and the ROS drivers (dynamixel_motor stack). What is the smallest increment for the PID gains? Is it posible to change I and D gains separately through the services already implemented?

Thank you

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answered 2015-06-26 07:45:03 -0500

jbrown gravatar image

You can increment your PID gains however much you want, but for the best results, I would increment them by about 1/4 to 1/2 of your current gain. Since it is user programmable PID control, I would say yes, you can change the Ki and Kd gains separately. If you want to tune your PID, I would go with any open loop method.

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Asked: 2015-06-26 01:58:01 -0500

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Last updated: Jun 26 '15