Dynamixel Motors Jerky motion when running using IK

asked 2018-01-02 22:30:21 -0500

Radeshwar gravatar image

updated 2018-01-02 23:36:08 -0500


I am using Dynamixel actuators to form a 6-Axis Manipulator arm. The motion is smooth when it is running all my joints are operated individually and during all joint motion.

But when I am trying to move my Manipulator Arm in Cartesion Mode using IK by giving X,Y,Z velocities it is giving jerky motions. What could be the reason for this and how can I make the motion smoother in Cartesion Mode.

Can anyone help me making the system smoother.


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Hello :)

ROBOTIS provides official opensource repository as ROBOTIS-GIT?

In this repository, you can find Dynamixel-Workbench to control all series of DYNAMIXELS. Because it is official package for DYNAMIXEL, you can get a proper solution when you faced some problems.

Furthermore, they provides OpenManipulator package for manipulation. You can get a information when you use MoveIt! with DYNAMIXELS.

This is WIKI page for DYNAMIXEL and introduced packages.


WIKI for Dynamixel-Workbench

WIKI for OpenManipulator

Enjoy with it!


Darby Lim gravatar image Darby Lim  ( 2018-02-22 00:03:41 -0500 )edit

I believe that this should be a comment instead of an answer as this doesn't answer the question. Instead, it just points to a wiki and GitHub repo.

jayess gravatar image jayess  ( 2018-02-22 00:34:05 -0500 )edit