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| 2012-06-23 00:31:31 -0500 | asked a question | Velocity joint control of a manipulator 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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