Acceleration profile Overshoots

asked 2018-12-12 23:51:49 -0600

Pulkit123 gravatar image

Hi I am using ROS kinetic with Ubuntu 16.04. I am trying to compare the trajectory generated by MoveIt! and the trajectory at the output of ros-control. When I analyzed the acceleration profiles for both, there were huge jerks and overshoots at the ros-control side. Below is the acceleration profile:

image description

I moved only joint 2 of my 7 dof manipulator arm and taken the ros-control output from /position_joint_trajectory_command topic.

The blue one is the acceleration output from MoveIt! and the red one is the acceleration output from ros-control. I am using position_controllers/JointTrajectoryController for moving the manipulator.

Can someone tell how to smooth this profile ??

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Comments

This seems very similar to https://answers.ros.org/question/3105... . Are you both working on the same project or homework assignment?

ahendrix gravatar imageahendrix ( 2018-12-13 00:40:42 -0600 )edit