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Splash Forums Support Jaco v2 Good PID values

This topic contains 3 replies, has 2 voices, and was last updated by  Anonymous 2 years, 5 months ago.

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  • #1696

    Anonymous

    Hello,

    We want to try to tune the Jaco’s PID values to allow more speed and also a longer life for our robot.

    I tried with : P=1, P=2, P=1&I=1; But none of these values work well (No change of speed).

    I wan’t to try to tune the PID with a Ziegler-Nichols, but I think the result will break the limit described in the Documentation.

    Do you know any good PID values that allow the robot to move faster and/or easing the electric current curve ?

    Long story short :
    I’m trying to transform this : Jaco Z movement
    Into this : Jaco Perfect PID
    I know it’s impossible, but it’s the idea.

    Any help is welcome 🙂
    Best regards,
    Mathieu.

    #1783

    Anonymous

    Dear Mathieu,

    Thank you for your post. First of all, we are very sorry for the late reply.

    There is no perfect answer to your question. In fact, the default PID values (factory settings) are Kp = 2.0, Ki = 0.0, and Kd = 0.05 for all actuators. To improve the time response of the robot, you can gradually increase the Kp values in order to approach your desired behavior. However, you must keep in mind that increasing Kp values might lead to instability in the actuator response and then you might need to adjust Ki and Kd values as well. There is always a compromise between time response and stability.

    In the Kinova API Documentation, we suggest to keep Kp values within the range of [0.0, 2.0]. If required by your application, however, you can set higher values of Kp, but it is your full responsibility since higher values were not tested and approved by Kinova. If you decide to increase Kp values, we would strongly suggest to gradually change the Kp values, then evaluate the robot response, and so on (never apply drastic changes in these parameters if you are not 100% sure of the resulting behavior).

    Hoping this reply will help you.

    Best regards,
    Norris

    #1799

    Anonymous

    Hello,

    Thanks a lot, don’t worry for the delay.
    I will use some of my knowledge and this picture : PID tuning to try to tune the PID slightly.

    Thanks again for the good work 🙂

    Best regards,
    Mathieu.

    #1800

    Anonymous

    Hello Mathieu,

    This picture seems to be a good summary on the general effect when tuning PID values.

    Do not hesitate to post if you need additional info.

    Bonne journée!
    Norris

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