UR5 robot sine wave

asked 2018-02-28 11:10:04 -0600

BigHopes gravatar image

Hello all,

I am controlling the UR5 robot using ROS with python. I tried simple sine wave inputs. +- 5 degrees and 0.5 Hz. It works on the upper three joints but the three joints (base, shoulder, Elbow) follow an aperiodic sawtooth signal, as the attached photo shows, Base_Joint_Output.

I appreciate if you could help me with this problem.


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I solved it using the safety configuration, so I will close it.

BigHopes gravatar image BigHopes  ( 2018-03-01 00:22:05 -0600 )edit

Could I ask you to post this as an answer and then accept your own answer?

Please also include a bit more detail, what was the safety configuration that prevented this from working? Also include some info about versions of polyscope etc.


gvdhoorn gravatar image gvdhoorn  ( 2018-03-01 04:53:45 -0600 )edit

I've also given you enough karma to attach the image to your question directly. It would be very nice if you could do that.

gvdhoorn gravatar image gvdhoorn  ( 2018-03-01 04:54:44 -0600 )edit