Velocity safety controllers limit static effort a joint can apply (ros ticket #4918)

[ahendrix]

The joint safety controllers consist of effort, velocity and position limits. The velocity limits use a proportional feedback to limit the joint velocity. When the feedback gain is set too low, the velocity limits also limit the effort a joint can apply:

The max effort you can apply on a joint is: min(v_max * k_velocity, eff_max). We should either try to up the gain k_velocity, or if that's not possible, we should redesign the safety controllers to e.g. filter signals to allow for higher feedback gains.

trac data:

• Owner: wim
• Reporter: wim
• Reported at: Tue Nov 30 12:50:43 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4918