[ros-users] pr2_mechanism_model joints break possible???
sglaser at willowgarage.com
Tue May 11 03:02:05 UTC 2010
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 in your case).
On Mon, May 10, 2010 at 8:22 AM, Andreas Vogt <andreas.vogt at dfki.de> wrote:
> 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- desired_pos_steer, dt);
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