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If I send the JointTrajectoryActionController a single goal using the SimpleActionClient with a velocity and acceleration of 0 each, will the commanded motor torques simply be like a PID controller with a fixed set point?

Will the r_arm_controller (which I am assuming is a JointTrajectoryActionController) start behaving like a JointPositionController in this case?

Thanks.


Originally posted by Advait Jain on ROS Answers with karma: 140 on 2011-03-15

Post score: 1

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The desired position trajectory will be a fifth-order polynomial, with start and end boundary conditions of 0 velocities and accelerations. Also called a "minimum jerk" movement in some communities.

If you omit accelerations, you'll get a cubic spline. If you also omit velocities, you get linear interpolation. This is some documentation I found about this: http://www.ros.org/wiki/robot_mechanism_controllers/JointSplineTrajectoryController


Originally posted by kalakris with karma: 529 on 2011-03-15

This answer was ACCEPTED on the original site

Post score: 3


Original comments

Comment by Advait Jain on 2011-03-15:
thanks a lot Mrinal, this was really useful!

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