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

[Andreas Vogt]

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 at 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
>>
>> _______________________________________________
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>> ros-users at code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-users
>>
>>     
>
>
>
>   


-- 

 Andreas Vogt 
 Logistics and Production Robotics

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