Setting PID Gains for 6 DOF Manipulator [closed]

asked 2015-09-09 12:46:44 -0600

MahsaP gravatar image

updated 2015-09-25 05:49:54 -0600

Hi,

I have loaded a 6 DOF robot into Gazebo. You can see the files from here. I have tuned PID parameters of ros_control for five joints. But, tuning joint 4 is not really easy.

Joint 4

The behavior of joint 4 is strange too. When the input is in the following range (1.5<&input&<2 and -2<&input&<-1.5) the joint moves correctly. Otherwise, the error signal oscillates and the process_value signal does not oscillate. The reason to this issue is not clear to me.

Would you please give me a hint how to solve this problem?

To run the code easily please enter the following lines:

1) run gazebo:

roslaunch denso_gazebo denso_world.launch

2) run rqt to show the figures and commands:

roslaunch denso_control denso_rqt.launch

The distro of my ROS is indigo running on Ubuntu 14.04.

Thank you.

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Closed for the following reason the question is answered, right answer was accepted by MahsaP
close date 2015-10-04 18:47:00.290327

Comments

Setting i_clamp to 0 is probably not a good idea; it will defeat the purpose of the i term.

ahendrix gravatar imageahendrix ( 2015-09-09 18:03:58 -0600 )edit

@ahendrix I have tried change i_clamp too. Nonetheless, it's performance hasn't improved.

MahsaP gravatar imageMahsaP ( 2015-09-10 01:16:43 -0600 )edit

@MahsaP What was the right answer chosen?

130s gravatar image130s ( 2015-10-08 12:27:02 -0600 )edit
1

@130s It had to do with the range of max and min of the joint. I will upload it later on github.

MahsaP gravatar imageMahsaP ( 2015-10-08 12:52:01 -0600 )edit

I have uploaded the code on github.

MahsaP gravatar imageMahsaP ( 2015-10-10 17:31:31 -0600 )edit

Hi, I'd like to tune the PID of a 6-DOF Manipulator too. And I find that I can tune the parameter with rqt, but I don't know how to fill in the JointTrajectotyPoint in the expression blank. How did you tune the PID of the manipulator? Thank you very much~

GeWei gravatar imageGeWei ( 2018-07-12 20:02:03 -0600 )edit

@GeWei That is a new question. Please open a new thread instead of posting it on comment section, which is not what the comment is for. Besides all those, comment gets far less attention so that you'd end up less responses.

130s gravatar image130s ( 2018-07-12 20:33:13 -0600 )edit