Re: [ros-users] pr2_mechanism_model joints break possible???

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 <andreas.vogt@dfki.de> 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