Repository navigation
website: Add FAQ entry for the arm not reaching the commanded position - #639
Merged
Merged
Conversation
Users who control the arm by joint positions see a steady-state error and the end effector sagging, especially with the arm extended. The cause is the low default gains of the MIT mode PD control, but the docs didn't say so from the symptom side. Add an FAQ entry that recommends increasing Kp first, the tuning order, that OpenArm software has no integral loop or disturbance observer, and links to the default and higher gains we use. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Contributor
There was a problem hiding this comment.
Copilot was unable to review this pull request because the user who requested the review has insufficient remaining quota.
An organization owner can choose the repository organization as the billing source for reviews requested by members with a paid Copilot license. Learn about Copilot code review billing.
|
Preview: https://kou.github.io/openarm See https://github.com/enactic/openarm/blob/main/website/README.md#pull-request-and-preview how to configure preview on fork. |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Users who control the arm by joint positions see a steady-state error and the end effector sagging, especially with the arm extended. The cause is the low default gains of the MIT mode PD control, but the docs didn't say so from the symptom side.
Add an FAQ entry that recommends increasing Kp first, the tuning order, that OpenArm software has no integral loop or disturbance observer, and links to the default and higher gains we use.