Issue:
I’m having trouble tuning the Dynamixel because there’s a persistent offset I can’t eliminate. I tried increasing the integral gain of the internal PID controller, but the correction process takes too long and isn’t reliable. I also tried reducing the offset by raising the proportional (P) gain, but that required a high derivative (D) gain as well. However, a very high P gain makes the system’s response too abrupt and not smooth at all. Right now, I’m using a P gain of about 3500 and a D gain of about 1500. Still, the offset isn’t consistent—sometimes it appears, and other times it doesn’t. Any idea why ?
DYNAMIXEL Servo:
LIST ALL DYNAMIXEL SERVOS USED IN THIS PROJECT
I am using the XC330-T181-T
Software Interface:
I use the Dynamixel with ROS2, but the offset also exist when i directly use Wizard 2.0 and set goal positions there.