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With ImpedanceControl on, robot makes noise during goOffpose #416

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k-okada opened this issue Dec 9, 2015 · 3 comments
Open

With ImpedanceControl on, robot makes noise during goOffpose #416

k-okada opened this issue Dec 9, 2015 · 3 comments
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critical enhancement

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@k-okada
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k-okada commented Dec 9, 2015

インピーダンスがかかって自己干渉ぎみになりますね．
@130s 130s changed the title インピーダンスが入っている時にgoOff姿勢になるとガタガタ音がする With ImpedanceControl on, robot makes noise during goOffpose Feb 8, 2016
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130s commented May 22, 2017

質問ですが，

  • Hironx 側では何を直すと改善されるでしょうか？
  • 間抜けな質問ですが，そもそも Impedance 入ったまま goOffpose する，という運用は想定内なのでしょうか？Impedance 機能が入っている間は，センサの出力によって挙動が予測不可能となるので，必要のない時には Impedance をオフにするという運用を，暫定的にユーザに伝えています (そうすべきと主張したいわけではないです)．

@k-okada
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k-okada commented May 24, 2017

goOffposeの前にimpedanceをoffにするのが良いと思います．

@130s 130s added the critical label Jun 26, 2017
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130s commented Jun 26, 2017

CC @7675t
This is getting more critical for some existing users of impedance feature.

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