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e.DO People Learn Robotics Forums Software Activation of brakes at the end or during the execution of a trajectory

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  • #8518
    Roberto Ambrosetti
    Participant

    Hi,

    I’m using eDO with ROS, Moveit and Rviz.
    The robot works well, besides the fact that pretty often when it reaches the goal position of a trajectory, a kind of loop starts in which the robot activates and disengages the brakes, thus causing a little movement back and forth of the eDO oscillating around the goal position.
    The message printed in loop during the oscillating behavior is the following;

    [INFO] [1562591704.803206]: Trying to disengage brakes…
    [INFO] [1562591704.810173]: Brakes should be disengaged
    [INFO] [1562591704.887235]: Current machine state: ROBOT IS BUSY (255), opcode 0
    [INFO] [1562591705.187465]: Current machine state: CALIBRATED (2), opcode 0
    [INFO] [1562591705.192323]: Robot is active again, disabling release brakes timer
    [INFO] [1562591724.487238]: Current machine state: BRAKED (6), opcode 64
    [INFO] [1562591724.492249]: Setting up release brakes timer
    [WARN] [1562591724.493457]: [‘BRAKE_ACTIVE: Brake active. No power supply provided to motors’]

    Sometimes it also happens when the execution starts (in the start position) or during the execution (in a random position of the trajectory) but without the loop: the message above is printed once, the robot swings a little and then with a sudden increase of the speed of execution it starts the execution or continues it.

    I thought that the problem was related to the velocity of execution, therefore I reduced the speed limits, however the issue persists.

    I would really appreciate if someone could help me to solve this problem.

    Bye!

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