Dynamixel Motors Jerky motion when running using IK

asked 2018-01-02 22:30:21 -0500

updated 2018-01-02 23:36:08 -0500

Hi,

I am using Dynamixel actuators to form a 6-Axis Manipulator arm. The motion is smooth when it is running all my joints are operated individually and during all joint motion.

But when I am trying to move my Manipulator Arm in Cartesion Mode using IK by giving X,Y,Z velocities it is giving jerky motions. What could be the reason for this and how can I make the motion smoother in Cartesion Mode.

Can anyone help me making the system smoother.

Thanks.

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