MoveIt 패키지를 사용하여 OpenManipulator-X를 최고 속도로 동작하는 방법

YunWonho · April 18, 2025, 12:10am

안녕하세요.

open_manipulator_description/ros2_control/open_manipulator_x_system.ros2_control.xacro

main


      
            <command_interface name="Goal Position"/>
            <state_interface name="Present Position"/>
            <state_interface name="Present Velocity"/>
            <state_interface name="Present Current"/>
            <state_interface name="Torque Enable"/>
            <state_interface name="Present Input Voltage"/>
            <param name="Position P Gain">800</param>
            <param name="Position I Gain">100</param>
            <param name="Position D Gain">100</param>
            <param name="Profile Velocity">200</param>
            <param name="Profile Acceleration">50</param>
            <param name="Drive Mode">0</param>
          </gpio>
          
          <gpio name="dxl2">
            <param name="type">dxl</param>
            <param name="ID">12</param>
            <command_interface name="Goal Position"/>
            <state_interface name="Present Position"/>
            <state_interface name="Present Velocity"/>
            <state_interface name="Present Current"/>

를 보시면 각 다이나믹셀들에 관한 설정들이 있습니다.
이중
<param name="Profile Velocity">200</param> 과 <param name="Profile Acceleration">50</param> 항목들을 둘다 0으로 바꿀 시 최대 속도로 움직이게 됩니다. 이 때 안정성이 낮아지는점 참고해주시길 바라겠습니다.

Hello,

Referring to the settings for each Dynamixel in the following link:

github.com/ROBOTIS-GIT/open_manipulator

open_manipulator_description/ros2_control/open_manipulator_x_system.ros2_control.xacro

main


      
            <command_interface name="Goal Position"/>
            <state_interface name="Present Position"/>
            <state_interface name="Present Velocity"/>
            <state_interface name="Present Current"/>
            <state_interface name="Torque Enable"/>
            <state_interface name="Present Input Voltage"/>
            <param name="Position P Gain">800</param>
            <param name="Position I Gain">100</param>
            <param name="Position D Gain">100</param>
            <param name="Profile Velocity">200</param>
            <param name="Profile Acceleration">50</param>
            <param name="Drive Mode">0</param>
          </gpio>
          
          <gpio name="dxl2">
            <param name="type">dxl</param>
            <param name="ID">12</param>
            <command_interface name="Goal Position"/>
            <state_interface name="Present Position"/>
            <state_interface name="Present Velocity"/>
            <state_interface name="Present Current"/>

Please note that if you change both <param name="Profile Velocity">200</param> and <param name="Profile Acceleration">50</param> to 0, the robot will move at its maximum speed. Please be aware that this may reduce stability.