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View Code? Open in Web Editor NEWiiwa examples provided by Ewha Glab
iiwa examples provided by Ewha Glab
Currently the simulation works fine with the warning.
I believe this is because we are using the Joint Position Controller, which has no effect with the pid gains parameters.
However, we are having a jiggling effect, which may be also realted to the above issue.
related issues: issue1, issue2
related threads: thread1, thread2
I have tried the suggestions, then the simulation result in robot collapsing. Maybe tuning the PID gains will help.
realted thread: thread3
According to thread3, this can be caused by bad model parameters (joint constraints, damping, etc), bad physics parameters (large step size for example), bad controllers (high torque values for example), or combinations of the three.
I have tried changing the joint damping and joint friction parameters. But it did not work.
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