Real UR5e robotic arm's initial pose

[liaoziyi0229]

@MingshanHe Hello, thank you for your work, which is very helpful to my work. When I run admittance.launch using the physical UR5e robotic arm, The robotic arm will continue to move once it reaches its initial position. It does not stay still in its initial state waiting for an external force to be applied. How should the situation be handled?

[MingshanHe]

What's the meaning if it does not stay still in its initial state?

[liaoziyi0229]

What's the meaning if it does not stay still in its initial state?

After running admittance.launch in the gazebo simulation, the robotic arm will stop at one position waiting for external force. But it doesn't stop or wait for external force when I run admittance.launch on the physical arm.

[MingshanHe]

You might check the topic of the external force. it may be noised. and you also need to check the output gain.

[liaoziyi0229]

You might check the topic of the external force. it may be noised. and you also need to check the output gain.

Thank you for your answer, I will check the topic and the output gain.
Could the problem be caused by the model? When I do the gazebo simulations, the initial state of my several experiments, after running the admittance.launch, was not quite the same.

[MingshanHe]

Actually, I am not sure what's wrong with your situation.
Please mindfully check.

[zbj165]

You might check the topic of the external force. it may be noised. and you also need to check the output gain.

Thank you for your answer, I will check the topic and the output gain. Could the problem be caused by the model? When I do the gazebo simulations, the initial state of my several experiments, after running the admittance.launch, was not quite the same.

Hello, have you solved this problem? I am trying to activate admittance control on the physical robotic arm, but all have failed. How should I activate it.

[liaoziyi0229]

You might check the topic of the external force. it may be noised. and you also need to check the output gain.

Thank you for your answer, I will check the topic and the output gain. Could the problem be caused by the model? When I do the gazebo simulations, the initial state of my several experiments, after running the admittance.launch, was not quite the same.

Hello, have you solved this problem? I am trying to activate admittance control on the physical robotic arm, but all have failed. How should I activate it.

I have not solved this problem yet. Every time I start the second launch file, the robotic arm will move rapidly, and after reaching the initial position, it will still move at the last speed and direction. The robot arm cannot be driven by human power. At present, I am trying to write virtual external forces into admittance's cpp file. If you have any solutions please feel free to share.

[zbj165]

You might check the topic of the external force. it may be noised. and you also need to check the output gain.

Thank you for your answer, I will check the topic and the output gain. Could the problem be caused by the model? When I do the gazebo simulations, the initial state of my several experiments, after running the admittance.launch, was not quite the same.

Hello, have you solved this problem? I am trying to activate admittance control on the physical robotic arm, but all have failed. How should I activate it.

I have not solved this problem yet. Every time I start the second launch file, the robotic arm will move rapidly, and after reaching the initial position, it will still move at the last speed and direction. The robot arm cannot be driven by human power. At present, I am trying to write virtual external forces into admittance's cpp file. If you have any solutions please feel free to share.

sorry i mean i just finished the admittance control in gazebo but i don't know how to use this admittance control on a real robot arm yet do you know how to use it on a real robot arm