Best way of gravity compensation

asked 2020-04-19 09:43:37 -0500

azerila gravatar image

updated 2020-04-19 09:47:21 -0500

Is there a type of controller that can be run in parallel other controllers in ros_control to compensate for the gravity (preferably with some notion of rigid body dynamics), that is quite simple to implement also.

or in general what is the best way to compensate for the gravity and not let the robot fall on the ground when the controller manager starts with controllers that don't inherently compensate for gravity.

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