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Splash Forums Support Jaco v2 Robust torque control?

This topic contains 1 reply, has 2 voices, and was last updated by  Alex 1 year, 3 months ago.

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  • #2778

    ente
    Participant

    Hello,

    I am working on torque control with the Kinova Jaco 2 based on the c++ API. For my research I need to continuously switch between torque and position mode. After I recognized that the command SetSwitchTrajectoryTorque needs some time for robust switch the mode, I got some problems within the direct torque mode. It seems that sometimes the robot suddenly stops in executing the torques. My configuration of the direct torque mode is:
    MyTorqueRobotProtection(1.0);
    MySetTorqueSafetyFactor(1.0);
    MySetTorqueVibrationController(0.5);

    I am wondering if the commands SetTorqueInactivityType and SetSwitchThreshold could probably help me, but I definitely have no idea what they are. I also found no documentation about it, so I ask it here. Is there anybody who could help me?

    Best regards
    Philipp

    • This topic was modified 1 year, 3 months ago by  ente.
    #2780

    Alex
    Participant

    Dear Philipp,

    The robot often stops executing the torque commands when it reaches a nearby limitation. There are no specific commands that will help to avoid this, but I can still give you the description of both commands (SetTorqueInactivityType and SetSwitchThreshold).

    SetTorqueInactivityType: This function manages the torque inactivity time option. If not torque command is sent after a given time (250ms by default), the controller will take an action: (0): The robot will return in position mode (1): The torque commands will be set to zero. By default, option (1) is set for Kinova classic robots (Jaco2 and Mico) while option (0) is set for generic mode.

    Advanced Configurations (for advanced users only): These functions should only be used by advanced users. The user should be very cautious and be ready to turn off the robot if a problem occurs. The user should quit torque control mode and be in Trajectory-Position control mode before using theses functions.

    WARNING : Do not use these functions if you don’t know what you are doing.

    SetSwitchThreshold: When switching from position to torque control, the controller verifies if the torque command is close to the actual measured torque (as a safety feature to prevent high velocity motions if it is not the case). This function can be used to change the threshold over which the switching to torque mode is rejected. Default parameters can be found in the torque control documentation page under the section “Default parameters”. The parameters will reset to default values every time the robotic arm is rebooted.

    These commands description are from the API offline documentation. If you don’t have this documentation you can download it from the JACO2SDK package from our ”Ressources” page (in the support tab).

    I hope this helps! Please let me know otherwise

    Thanks,

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