how can i set joint softness? (programming for bioloid)
how can i set joint softness? (programming for bioloid)
by excalibur
Mon Mar 28, 2011 2:27 pm
hi everybody
how can i set "joint softness" in programming for bioloid?
when the robot is connected to roboplus, it has very soft and smooth moves, but when i want to program it manually, it shakes while moving, and seems that does the steps with a little pause, dont know why!
we use c#. can it be reason to do the steps seprately?! (because of its complexity or etc )
how can i set "joint softness" in programming for bioloid?
when the robot is connected to roboplus, it has very soft and smooth moves, but when i want to program it manually, it shakes while moving, and seems that does the steps with a little pause, dont know why!
we use c#. can it be reason to do the steps seprately?! (because of its complexity or etc )
by Fritzoid
Mon Mar 28, 2011 6:52 pm
Hi excalibur,
I don't think that joint softness is the source of your shakiness. In RoboPlus, softness controls the compliance slope setting on the servos. Most of the motions are set to a softness of 5 which translates to a compliance slope of 32 which is the default. People report seeing little or no change after raising or lowering the softness values.
Jerkiness is more likely caused by the algorithm used for calculating positions or an inadequate update frequency. What are you using to program it "manually", embedded C or something?
I don't think that joint softness is the source of your shakiness. In RoboPlus, softness controls the compliance slope setting on the servos. Most of the motions are set to a softness of 5 which translates to a compliance slope of 32 which is the default. People report seeing little or no change after raising or lowering the softness values.
Jerkiness is more likely caused by the algorithm used for calculating positions or an inadequate update frequency. What are you using to program it "manually", embedded C or something?
by Robocop
Tue Mar 29, 2011 12:05 pm
Hello
I do have a similar problem.
Robot servo is shaking and I found out that changing CW and CCW Compliance Margin to 2 in Roboplus Manager is helping.
Problem is that when I turn the robot off and back on, values are again at default 1.
Anyone knows solution for this?
I do have Type B build in robot and using default task and motion files from support.robotis/en
Thanks!
I do have a similar problem.
Robot servo is shaking and I found out that changing CW and CCW Compliance Margin to 2 in Roboplus Manager is helping.
Problem is that when I turn the robot off and back on, values are again at default 1.
Anyone knows solution for this?
I do have Type B build in robot and using default task and motion files from support.robotis/en
Thanks!
by excalibur
Tue Mar 29, 2011 10:50 pm
thanQ fritzoid
as you said "joint softness" wasn`t my problem, cuz i found some other problems and resolved them, and movements became better
the main one was the way we code. we don`t use embedded C; our programming language is c#, and as a c# programmer an Object Oriented way, and the problem was that
the more classes, and more function invokes, the slower moves! (so excited why!!!)
as you said "joint softness" wasn`t my problem, cuz i found some other problems and resolved them, and movements became better
the main one was the way we code. we don`t use embedded C; our programming language is c#, and as a c# programmer an Object Oriented way, and the problem was that
the more classes, and more function invokes, the slower moves! (so excited why!!!)