Velocity joint control of a manipulator [closed]

asked 2012-06-23 00:31:31 -0500

Fabrizio Flacco gravatar image

Hi All!!!

I'm implementing a robot manipulator arm in ROS/Gazebo.

To control the joint velocity I use a plug-in with setJointVelocity, just like the erratic demo.

The problem is that the joint goes at the desired velocity only if there are not other forces (i.e. gravity, centrifugal and Coriolis). But this is not what I expect... if I ask a velocity I want that velocity.

Is controlling the joint torque the only solution?

Thanks Fabrizio

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Closed for the following reason question is off-topic or not relevant. Please see http://wiki.ros.org/Support for more details. by tfoote
close date 2015-03-03 01:56:12.494703

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Please ask gazebo questions at http://answers.gazebosim.org

tfoote gravatar image tfoote  ( 2015-03-03 01:56:06 -0500 )edit
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