How to correctly tune EGM settings so the YuMI can move in a slow speed?
in IRC5
I'm using a ROS package to control the YuMI robot via EGM. The problem is that when we send a small velocity command to any joints of the YuMI, it cannot move.
From the Product specification IRB14000, the resolution for each joint is about 0.01 degree, which means the lowest speed we can send should be 0.0001745 rad/s from my understanding. But from the test, only the joint speed higher than 0.01 rad/s can be recognized and actuate the joint move. I also post this issue on their GitHub as well, and tried to adjust position correction gain/using filtering or not based on their suggestions, but it didn't help.
Could anyone help me with this?
From the Product specification IRB14000, the resolution for each joint is about 0.01 degree, which means the lowest speed we can send should be 0.0001745 rad/s from my understanding. But from the test, only the joint speed higher than 0.01 rad/s can be recognized and actuate the joint move. I also post this issue on their GitHub as well, and tried to adjust position correction gain/using filtering or not based on their suggestions, but it didn't help.
Could anyone help me with this?
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The link to the ROS package is https://github.com/ros-industrial/abb_robot_driver. The kink to my posted issue is: https://github.com/ros-industrial/abb_robot_driver/issues/270
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