From 397ff37922222dba16a731fa7b2e2b8f1c3671cc Mon Sep 17 00:00:00 2001 From: Jose Medina <jose.medina@franka.de> Date: Tue, 30 Jan 2018 09:39:05 +0100 Subject: [PATCH] Lower rotational gains With values higher that 40 for the rotational stiffness, the arm could start vibrating. This commit sets more conservative gains with a maximum of 30. --- franka_example_controllers/cfg/compliance_param.cfg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/franka_example_controllers/cfg/compliance_param.cfg b/franka_example_controllers/cfg/compliance_param.cfg index c5a4489..3a891b0 100755 --- a/franka_example_controllers/cfg/compliance_param.cfg +++ b/franka_example_controllers/cfg/compliance_param.cfg @@ -6,7 +6,7 @@ from dynamic_reconfigure.parameter_generator_catkin import * gen = ParameterGenerator() gen.add("translational_stiffness", double_t, 0, "Cartesian translational stiffness", 200, 0, 400) -gen.add("rotational_stiffness", double_t, 0, "Cartesian rotational stiffness", 20, 0, 100) +gen.add("rotational_stiffness", double_t, 0, "Cartesian rotational stiffness", 10, 0, 30) gen.add("nullspace_stiffness", double_t, 0, "Stiffness of the joint space nullspace controller (the desired configuration is the one at startup)", 0, 0, 100) exit(gen.generate(PACKAGE, "dynamic_compliance", "compliance_param")) -- GitLab