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I have a vertical prismatic joint that I want to control using the "position control" interface. My position command requires the joint to stay at a point for a while, but the joint creeps downwards despite a constant position command. See the video clip.
Yes! I added a rather large friction to the prismatic joint. First, I calculated the weight of the object (link). Then, added a friction force that was greater than the weight of the object (link).
Hi all,
I have a vertical prismatic joint that I want to control using the "position control" interface. My position command requires the joint to stay at a point for a while, but the joint creeps downwards despite a constant position command. See the video clip.
Falling_Prismatic_Joint_Gazebo_ros2_control_demo_01.mp4
Why is this happening?
Here is my urdf:
Here is my controller config:
Here is my cpp driving command:
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