Hello,
I am experiencing peculiar behavior with a couple of MX-64 motors that I am currently using for a robotic arm. The issue is that when executing motion planning movement for the arm through ‘ROS and Move-It’, the motors periodically give-up then slowly go back to moving to their required position. A video of this happening is seen at: https://vimeo.com/278070661. The specifications of the arm I am using and what version the motors are is below:
**Robotic Arm**
• Crustcrawler Pro-Series Robotic Arm (http://www.crustcrawler.com/products/ProRoboticArm/)
• Motor layout from bottom (table #1) to top (gripper #8):
o Turntable Motor #1 - MX-64
o Dual Motors #2 and #3 - Both are MX-64
o ****Long Arm Motor #4**** - This MX-64 is giving the issue
o ***Short Arm Motor #5*** - This MX-64 is giving the issue also
o Wrist Rotate Joint Motor #6 - AX-12A
o Gripper Motors Left #7 and Right #8 – Both are AX-18A
**Motor Specifications**
• MX-64T Protocol 1.0 Firmware Version 36
(http://support.robotis.com/en/product/actuator/dynamixel/mx_series/mx-64at_ar.htm)
I am trying to figure out why this issue occurs and how to stop it. Some areas that could potentially be the problem that I have discovered through troubleshooting are the following:
• Serial daisy chain wiring configuration is touchy meaning sometimes motors flicker on and off just by moving the wiring of the previous motor’s connection in the chain.
• URDF file description for setting revolute joint limits. What exactly do the effort and velocity attributes set??
Any help would be appreciated!
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