OnRobot RG2-FT User Manual page 46

This command has no return value.
Guidelines to PID force/torque controller settings:
The PID force/torque controller continuously calculates the error value for the
force/torque measured by the sensor, compared to the values set by the F/T
Control command, and applies correction based on this error.
P Gain: The proportional term produces a correction that is proportional to the current
error value. Increasing this parameter, has the following effects: faster reaction,
overreaction, lower error, stability degradation.
I Gain: The integral term produces a correction that is proportional to both, the
magnitude, and duration of the past error values. Increasing this parameter, has the
following effects: faster reaction, overreaction, lower error, stability degradation.
D Gain: The derivative term produces a correction that is proportional to the slope or
changing speed of past error values. Increasing this parameter, has the following
effects: less overreaction, stability increase.
If the force control is too slow, that is, the tool occasionally leaves the surface instead of
continually touching it, try increasing the P Gain, and I gain values.
If the force control is overreacting to changes, that is, the tool bounces off the surface,
try decreasing the P Gain (or D Gain, if it is above 1).
If the force control is reacting to changes too slowly, that is it keeps pushing the surface
hard after touching it, try decreasing the I Gain.
As a rule of thumb, it is recommended to use values:
1. P Gain < 5
2. I Gain < 0.25
3. D Gain < 1
4. The ratio of P Gain/I Gain = 10
Values that can be used as a base for tuning are:
P Gain F =1, I Gain F = 0.1, D Gain F = 0.3
P Gain T =0.2, I Gain T = 0, D Gain T = 0
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Using the URCap Plugin 46
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