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导纳问题请教 #39

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Holyzhouy opened this issue Jul 29, 2023 · 3 comments
Open

导纳问题请教 #39

Holyzhouy opened this issue Jul 29, 2023 · 3 comments

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@Holyzhouy
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校友你好呀，你这些做的真好！
我有几个问题，就是UR5机器人控制频率只有125hz，采用末端六维力传感器时，这个对于做位置导纳控制有影响吗？我做位置导纳时，机械臂有时会抖动，做速度导纳时就还好，这机器人适合采用位置导纳吗？
@ljc0815
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ljc0815 commented Aug 10, 2023

同学你好，你的六维力传感器是自己配的吗？我用UR5e自带的传感器误差很大，总是抖动

@Holyzhouy
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同学你好，你的六维力传感器是自己配的吗？我用UR5e自带的传感器误差很大，总是抖动
我没用过UR5e，UR5的六维力传感器是单独买的，UR5e的控制频率高些吧，也会抖动吗？

@ljc0815
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ljc0815 commented Aug 11, 2023

控制频率并不高，而且自带的传感器误差很大，滤波效果也不好>

同学你好，你的六维力传感器是自己配的吗？我用UR5e自带的传感器误差很大，总是抖动

我没用过UR5e，UR5的六维力传感器是单独买的，UR5e的控制频率高些吧，也会抖动吗？

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@Holyzhouy @ljc0815