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Help with calibrating a robot arm

Discussion in 'Robotics' started by shemnor_Atkins, Jun 29, 2021.

  1. shemnor_Atkins

    shemnor_Atkins

    Joined:
    Jun 28, 2021
    Posts:
    2
    Hello,

    First, I just wanted to say thank you for the .urdf importer. Its making a huge difference in what we are currently developing!!

    Im a little stuck in calibrating the imported robot to behave like its real-life twin, and Im hoping it will seem trivial to someone here. The arm seems to be straining a lot during operation and stationary joints are slipping.

    here is the non-embedded gif: gfycat.com/impishgrimafricanwildcat



    You can see that when changing the target value, the higher hierarchy joints are not stiff enough to prevent the operated joint fom translating. The lower arm joints should be a lot stiffer. Is there any way to remedy it? I have currently set up the stiffness, damping and force limit to achieve realistic degrees/second joint velocity. I cant seem to get the remaining joints to be stiffer no matter how I adjust the global controller variables.
     
  2. vidurVij-Unity

    vidurVij-Unity

    Unity Technologies

    Joined:
    Feb 26, 2020
    Posts:
    8
    Hi,
    I am glad you are using the URDF importer. It seems you are changing the joint stiffness using global controller. If you want to change the stiffness of the joints independently, you may need to tweak the controller a little. You can remove the part of the code where it is setting the stiffness in each joint at the start. Than you go to the individual joints in the hierarchy and change their stiffness.
    Vidur