Hi everyone,
I’ve recently run some tests on the Trifinger robot and got some weird issues that caused one of the fingers broken.
Before running all three fingers, I separately tested each finger and there was no problem. I run script demo_single_finger_position_control.py in robot_fingers package and used next_index as homing method. Everything went smoothly without error, so I’m confident that there is no problem with the hardware, and also PD gains are good.
However, when I attempted to run script demo_trifingeredu.py, also with homing method next_index, I noticed that all three fingers did not slowly find index ticks on encoders as usual, they just did not move. Then suddenly, some joints started shaking and moved violently even though the PD gains were set to pretty small values. I managed to cut off the power but it was too late, one finger hit the frame and broke.
Has anyone experienced similar issue? I suspect that the problem might come from CAN communication, maybe delays or something. When only one finger is running, there are only two active CAN channels, but we have 6 channels when all three are running.
Thanks!