I am trying to move a robot arm (Husky with a mounted UR attached with a Robotiq Gripper) and the gains are not properly tuned
so the robot arm is showing a weird behaviour as shown in the video.
The gains are
stiffness kp = 5.729578e+11*np.array([1000,1000,1000,1000,1000,1000,0.001,0.001,0.001,0.001,0,0,0,0,0.001,0.001])
damp kd = np.array([5729578,5729578,5729578,5729578,5729578,5729578,5729578,5729578,5729578,5729578, 5729578.,5729578.,5729578.,5729578., 5729578,5729578])
and the dof index for the joints are shown in the pictures gain_1 and gain_2.
How should I learn the proper tuning values ? Is there any guide ?
Please look into this. I will be grateful.
Thanks and regards,