My robot arm joint can't stop

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lsch
Posts: 1
Joined: 12 Mar 2018, 09:37

My robot arm joint can't stop

Post by lsch » 12 Mar 2018, 13:16

hello
I use OMPL library to generate a path, and use UR5 to follow this path. UR5 joints mode are passive mode and check hybrid operation. I use sim.setJointPosition() to control the joint. The robot can follow this path but when the robot get the end of the path, it can't stop. The robot continues to move until it falls to the ground. I can't find the reason.

coppelia
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Posts: 6740
Joined: 14 Dec 2012, 00:25

Re: My robot arm joint can't stop

Post by coppelia » 14 Mar 2018, 07:03

Hello,

so it seems your robot is dynamically enabled. In that case, you need to set the joints in force/torque mode, enable the motors, and enable the position control for those motors. Then you can command new target positions for those joints/motors with sim.setJointTargetPosition.

Cheers

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