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feat: configure FRI position smoothing

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Даниил Грабарь
2026-09-16 15:06:17 +10:00
parent 29a1601061
commit 1780532f51
14 changed files with 67 additions and 11 deletions
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doc/lwc-doc/docs/getting-started/configuration.en.md
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@@ -35,9 +35,10 @@ robot:
| `ip` | KUKA controller IP address | **Change** to the actual controller address |
| `port` | FRI UDP port | Default: `30200`; change only if the port conflicts |
| `fri_cycle_ms` | FRI cycle: `5` ms = 200 Hz, `10` ms = 100 Hz | Use `10` for stable operation or `5` for high-precision tasks |
| `joint_position_tau` | FRI command EMA time constant, s | `0.04`; `0` disables smoothing |
| `description` | Path to the robot URDF | Do not change |
Motion always uses JointTrajectoryController. The position command is smoothed before FRI transmission with a 40 ms EMA time constant; no velocity filter is applied.
Motion always uses JointTrajectoryController. The position command is smoothed before FRI transmission with `robot.joint_position_tau`; no velocity filter is applied.
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