Control parameters - kth-ros-pkg/yumi GitHub Wiki

For every control interface there are a set of parameters that govern its behavior. In this article we will list all the parameters you need to set to use EGM, RWS or the ABB driver interface successfully

EGM and RWS parameters

Location: yumi_hw/config/egm_rws_config.yaml.

NOTE: RWS is used to connect to the robot and enable EGM. Hence, RWS parameters also affect EGM directly.

RWS-specific

  • port: the YuMi port to which we'll connect.
  • ip: the YuMi IP address. By default, we set it to 192.168.125.1 for all our YuMis.
  • delay_time: the amount of time to wait for the YuMi to respond when starting RWS.
  • max_signal_retries: the amount of retries in case the connection to the robot fails.

EGM-specific

  • comm_timeout: the amount of time to wait before finishing the current EGM session if the communication is suddenly halted (for example, by network delays).
  • tool_name: tool name. Not relevant for us, as we command the joints directly.
  • wobj_name: work object name. Not relevant for us, as we command the joints directly.
  • cond_min_max: threshold value [deg] for which the EGM correction is considered to be finished. E.g. for joint mode, the condition is fulfilled when the joints are within [-MinMax, MinMax].
  • lp_filter: low pass filter to be applied to the joint commands. By default, we don't apply filtering. It needs to be enabled via ABB RobotStudio.
  • max_speed_deviation: maximum speed impulse at each step. It should not be higher than 180 deg/s for YuMi
  • condition_time: the amount of time that the internal controller waits until the joint axis has stayed within cond-min-max.
  • ramp_in_time: the amount of time until which the robot reaches the first reference sent. Only applied at the start of the connection.
  • pos_corr_gain: position correction gain of the EGM controller. We recommended setting it to zero if you want to do pure velocity control.