Random Intense Movement Right After Launching the Impedance Controller

[c-yiting]

Hi, thanks a lot for this repository!

system environment:

1. ROS Noetic
2. franka-ros 0.10.1 and libfranka 0.9.2

Lightweight customed fingers are mounted to replace the original fingers on the panda gripper.

After I run the suggested command to launch the impedance controller:
roslaunch serl_franka_controllers impedance.launch robot_ip:=<RobotIP> load_gripper:=true
Without any further input, the robot moves randomly and intensely right after
Started controllers: cartesian_impedance_controller
with the following error:
[ERROR]: libfranka: Move command aborted: motion aborted by reflex! ["power_limit_violation"]
control_command_success_rate: 1

Then the robot is running in high-stiffness.

Any ideas on solving this issue? Thanks!

[jianlanluo]

Hi, you mentioned your new finger is lightweight, so perhaps you need to recalibrate your payload on franka server

[charlesxu0124]

Hello, sorry to hear that your robot is acting in such a scary way. I've never experienced this issue before. The power_limit_violation is usually a result of a high torque command, and the high-stiffness afterwards is a result of the Franka's internal safety mechanism stopping the arm after the power limit violation.

Do you mind sharing the entire terminal log and maybe a picture of your arm configuration so I can try to investigate the issue further?

[jianlanluo]

so if your payload is too lightweight and isn't calibrated; the gravity compensation torques will drive your robot crazy