Hi, my desired position is constant but the forces of the hole robot are sometimes to high that they pushing the joint into another position. Stuart Glaser schrieb: > Hi, > > The PR2 does not have brakes on its joints. The best way to keep the > joint stationary is to use a PID loop, keeping the desired position > constant (desired_pos_steer[0] in your case). > > -Stu > > On Mon, May 10, 2010 at 8:22 AM, Andreas Vogt wrote: > >> Hi, >> >> I control my position of the joints with a PID/force controller(see >> below). Is it possible to fix the position after the joint reached the >> goal position like a break would do? >> >> pr2_mechanism_model::JointState* steer1_state; >> steer1_state->commanded_effort_ = pos_pid_1.updatePid( >> current_pos_steer[0]- desired_pos_steer[0], dt); >> >> Andreas >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> > > > > -- Andreas Vogt Logistics and Production Robotics DFKI Bremen Robotics Innovation Center Robert-Hooke-Straße 5 28359 Bremen, Germany Phone: +49 (0)421 218-64140 Fax: +49 (0)421 218-64150 E-Mail: andreas.vogt@dfki.de Weitere Informationen: http://www.dfki.de/robotik ----------------------------------------------------------------------- Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster (Vorsitzender) Dr. Walter Olthoff Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes Amtsgericht Kaiserslautern, HRB 2313 Sitz der Gesellschaft: Kaiserslautern (HRB 2313) USt-Id.Nr.: DE 148646973 Steuernummer: 19/673/0060/3