Limitations in iiwa 14
Posted: 21 Jun 2017, 08:53
Hi!
I'm using VREP in order to explore the limitations of an iiwa 14 robot based on its joint torque limits.
I created a simple scene in which I make the robot move in a straight line while applying a vertical force (as it was the weight of an object) to the end effector.
I already tried with loads of 100, 120, 150 N, and the robot seems to be ok. Joint torques are far from the limit {320, 320, 176, 176, 110, 40, 40} (N.m).
However, when reaching 160 N the robot falls down, not being able to cope with the load. What is going on exactly? Why isn't the iiwa able to create more torque in their joints in order to hold the position? Or, does VREP have incorporated joint torque limit values different that the ones i'm using?
I post the scene here:
https://www.dropbox.com/s/at2jmt6teu6xq ... t.ttt?dl=0
Thank you very much!
I'm using VREP in order to explore the limitations of an iiwa 14 robot based on its joint torque limits.
I created a simple scene in which I make the robot move in a straight line while applying a vertical force (as it was the weight of an object) to the end effector.
I already tried with loads of 100, 120, 150 N, and the robot seems to be ok. Joint torques are far from the limit {320, 320, 176, 176, 110, 40, 40} (N.m).
However, when reaching 160 N the robot falls down, not being able to cope with the load. What is going on exactly? Why isn't the iiwa able to create more torque in their joints in order to hold the position? Or, does VREP have incorporated joint torque limit values different that the ones i'm using?
I post the scene here:
https://www.dropbox.com/s/at2jmt6teu6xq ... t.ttt?dl=0
Thank you very much!