grabardm/lightweight-cobot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases 1 Wiki Activity

Update iiwa_controller configuration for improved joint control and velocity clamping

Browse Source
This commit is contained in:
Даниил Грабарь
2026-05-18 03:34:59 +03:00
parent 86cf252a87
commit efaec9b442
5 changed files with 45 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/iiwa_config/config/setting.yaml
+1 -1
View File
@@ -4,7 +4,7 @@ robot:
port: 30200
command_mode: "position" # torque, position
fri_cycle_ms: 5 # период FRI-цикла: 5 мс (200 Гц) или 10 мс (100 Гц)
joint_position_tau: 0.04 # постоянная времени фильтра позиций [с]: больше → плавнее, медленнее
joint_position_tau: 0.15 # EMA фильтр позиций: 0 = выкл (без лага → без overshoot при торможении)
active_controller: "jtc" # "jtc" = MoveIt/JointTrajectoryController, "forward" = ForwardCommandController
description: pkg://iiwa_description/urdf/iiwa7.urdf.xacro