Made a package to read the joint values from the Gazebo simulator, receive a reference value for the joints through a service, and publish joint efforts (continuously with high sampling rates) to make the joints move to these locations. The PD gains were tuned then to have fast convergence with minimal overshoot.
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Made a package to read the joint values from the Gazebo simulator, receive a reference value for the joints through a service, and publish joint efforts (continuously with high sampling rates) to make the joints move to these locations. The PD gains were tuned then to have fast convergence with minimal overshoot.
SumeetShanbhag/Controller-Design-for-SCARA
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Made a package to read the joint values from the Gazebo simulator, receive a reference value for the joints through a service, and publish joint efforts (continuously with high sampling rates) to make the joints move to these locations. The PD gains were tuned then to have fast convergence with minimal overshoot.
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