Ur3 arm PID values (.yaml)

asked 2023-06-21 16:37:33 -0500

NickRos gravatar image

Hello. I have a ur3 and I made a .yaml file including pid values for all joints ,but these are not the correct values,because the arm is moving back and forward a little bit. Does anyone know the correct values? My .yaml file:

/gazebo_ros_control: pid_gains: shoulder_pan_joint: p: 900.0 i: 0.1 d: 30.0 shoulder_lift_joint: p: 900.0 i: 0.1 d: 20.0 elbow_joint: p: 500.0 i: 0.1 d: 10.0 wrist_1_joint: p: 200.0 i: 0.1 d: 0.1 wrist_2_joint: p: 100.0 i: 0.01 d: 0.01 wrist_3_joint: p: 1000.0 i: 10.0 d: 0.0001

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Comments

The PID values for a robotic arm depend on a variety of factors, including the specific physical characteristics of the arm and the type of controller being used

mustafakurban gravatar image mustafakurban  ( 2023-06-21 22:23:32 -0500 )edit

Here some tips from ChatGPT:

Set all gains to zero: Start with all your PID values set to zero.

Tune P (Proportional Gain): Increase the P gain until you get a steady oscillation. This is also known as the ultimate gain, Ku.

Tune D (Derivative Gain): Increase the D gain until the oscillation is damped out. This gain reduces overshoot and improves the settling time.

Tune I (Integral Gain): Increase the I gain to reduce the steady-state error. This gain allows the system to reach the target value more accurately but can cause overshoot if set too high.

mustafakurban gravatar image mustafakurban  ( 2023-06-21 22:25:04 -0500 )edit

I followed these steps before you answer, but this is more complex than we think because by changing a value from a joint ,some other joints change positions in XYZ.Then, not all joints have the same pid values. I do many many many tests and I have a problem with wrist_6_joint.It is relaxed and it's rotating a little bit.I change its pid values but there are no effects.Generally, my professor said that I have to do a lot of tests and finally the system will not be perfect but will be good enough to do the work.

NickRos gravatar image NickRos  ( 2023-07-03 10:46:39 -0500 )edit