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

[Stuart Glaser]

What values are you using for the PID controller?  I'd also love to
see what the resulting forces on the joint are.  Could you take a bag
of the joint_states topics (using rosrecord)?

-Stu


On Tue, May 11, 2010 at 12:14 AM, Andreas Vogt <andreas.vogt at dfki.de> wrote:
> 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
>>>
>>> _______________________________________________
>>> ros-users mailing list
>>> ros-users at 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 at 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
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>



-- 
Stuart Glaser
sglaser -at- willowgarage -dot- com
www.willowgarage.com