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1 vote

Why are PID values have no effect on position_controllers/JointTrajectotyController?

I think you misunderstood what it was trying to say. The reason why P,I,D values will have no effect in case of using position_controllers/JointTrajectoryController ...
tomRob's user avatar
  • 88
1 vote

How to avoid oscillations caused by backlash in position control?

Backlash is not limited to just when you change directions. You can open the space in the gear train by slowing the motor down faster than the load would slow down on its own and yet both the motor ...
Nathan Scherdin's user avatar
1 vote

Inverted pendulum controller

I think the simple answer is that the cart-pole dynamics (linearized) are second-order (i.e. the moving parts have mass and thus inertia). In fact, it's also a non-minimum-phase system (has a zero in ...
Bill's user avatar
  • 111

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