Skip to content

Using velocity command interface with the SJTC #1480

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 4 commits into
base: main
Choose a base branch
from
Open

Using velocity command interface with the SJTC #1480

Show file tree
Hide file tree
Changes from 2 commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
962673b
Added PID gains for the SJTC velocity interface
URJala Aug 21, 2025
cdfd3b1
Add doc entry about using velocity interface
URJala Aug 21, 2025
8690391
Update ur_controllers/doc/index.rst
URJala Sep 16, 2025
e09232b
Change back command interface of JTC
URJala Sep 16, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 5 additions & 0 deletions ur_controllers/doc/index.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -104,6 +104,11 @@ the fraction determined by the current speed scaling. If speed scaling is curren
interpolation of the current control cycle will start half a time step after the beginning of the
previous control cycle.

Using velocity as command interface
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
The controller is able to use velocity as the sole command interface, and gains for that control mode have been specified, that work with all e-series robots.
The UR15, UR20 and UR30 robot models, however, do not support this control mode.

.. _io_and_status_controller:

ur_controllers/GPIOController
Expand Down
10 changes: 9 additions & 1 deletion ur_robot_driver/config/ur_controllers.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,7 @@ joint_trajectory_controller:
- $(var tf_prefix)wrist_2_joint
- $(var tf_prefix)wrist_3_joint
command_interfaces:
- position
- velocity
state_interfaces:
- position
- velocity
Expand Down Expand Up @@ -137,6 +137,14 @@ scaled_joint_trajectory_controller:
$(var tf_prefix)wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
$(var tf_prefix)wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
speed_scaling_interface_name: $(var tf_prefix)speed_scaling/speed_scaling_factor
gains:
# These values will work for all e-series robots, but will not work for UR15/20/30
$(var tf_prefix)shoulder_pan_joint: {p: 5.0, i: 0.3, d: 0.01, ff_velocity_scale: 1.0, i_clamp: 1.0, antiwindup_strategy: conditional_integration}
$(var tf_prefix)shoulder_lift_joint: {p: 5.0, i: 0.3, d: 0.01, ff_velocity_scale: 1.0, i_clamp: 1.0, antiwindup_strategy: conditional_integration}
$(var tf_prefix)elbow_joint: {p: 5.0, i: 0.3, d: 0.01, ff_velocity_scale: 1.0, i_clamp: 1.0, antiwindup_strategy: conditional_integration}
$(var tf_prefix)wrist_1_joint: {p: 5.0, i: 0.3, d: 0.01, ff_velocity_scale: 1.0, i_clamp: 1.0, antiwindup_strategy: conditional_integration}
$(var tf_prefix)wrist_2_joint: {p: 5.0, i: 0.3, d: 0.01, ff_velocity_scale: 1.0, i_clamp: 1.0, antiwindup_strategy: conditional_integration}
$(var tf_prefix)wrist_3_joint: {p: 5.0, i: 0.3, d: 0.01, ff_velocity_scale: 1.0, i_clamp: 1.0, antiwindup_strategy: conditional_integration}

passthrough_trajectory_controller:
ros__parameters:
Expand Down
Loading