how can i disable acceleration

asked 2022-04-25 03:30:51 -0600

omeranar1 gravatar image

updated 2022-04-25 06:50:08 -0600

I am working with 6 axis robotic arm and I want to turn off acceleration.
im using "position_controllers/JointTrajectoryController"
my "joint_limits.yaml" file; 

 j6:
    has_velocity_limits: true
    max_velocity: 1
    has_acceleration_limits: true
    max_acceleration: 1
    min_acceleration: 1

"min_acceleration" has no effect

edit2:
The joints in my real hardware robotic arm are shaking at low speeds, so I want to turn off the acceleration and test it.

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Comments

Hello, Please can you try to be more specific and include more details in the question? so it can be more understandable. Thanks.

It can be the issue with the controller that you are using. Not sure and cant conclude without more input from your side.

aarsh_t gravatar image aarsh_t  ( 2022-04-25 04:28:20 -0600 )edit

You can not "disable" acceleration. Please edit your description and tell us what problem you are having, rather than asking about a solution that can not be implemented. You edit using the "edit" button near the end of the description.

Mike Scheutzow gravatar image Mike Scheutzow  ( 2022-04-25 06:41:00 -0600 )edit

Still it is not clear what do you want from the community. And you can not disable the acceleration because if you do constant velocity planning (velocity remains the constant while traveling from point to point) then, it will produce a jerk in the beginning and the end. Which is not desirable. Apart from that, the shaking of the robot might be due to the PID gains. you need to tune those for whatever controller (effort/position/velocity) you are using.

aarsh_t gravatar image aarsh_t  ( 2022-04-25 14:23:08 -0600 )edit

i'am not using PID. i will check PID values, thank you so much

omeranar1 gravatar image omeranar1  ( 2022-04-25 14:47:07 -0600 )edit
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