EuRoC Forum

While joint speed limits are provided for the robot by the parameter server by default, there are no joint acceleration limits available. However, MoveAlongJointPath requires such limits to be defined. So far, we have made (more or less conservative) assumptions for them but it would be helpful if you could provide us with the actual limits.

please check this posting from today http://euroc.iphpbb3.com/forum/viewtopic.php?nxu=20112706nx57588&f=4&p=282#p282 whether it already answers your question.

It is clear that the instantaneous joint acceleration limit may vary if only joint torque limits are in place. Certainly it is possible to compute acceleration limits from a dynamics model which in this case might prove somewhat difficult to obtain.

Is there a way to recover if a joint torque or force constraint was violated?

Alexander Reiter wrote:... which in this case might prove somewhat difficult to obtain.

yes, in case you want to get very close to the respective maximums you can get kinematic, mass- & intertia- information from the provided models (refert to section 2.2.1 of the technical annex) to compute them given the maximum torques.

Alexander Reiter wrote:Is there a way to recover if a joint torque or force constraint was violated?

no. on the real robot a security exception would be raised and you would have to press the emergency button, resolve the cause and then release the emergency button again... by design there is no easy/automatic way to resolve such situations - and we also didn't wanted to make this easier in simulation.

the only way to recover in simulation is to restart that task from the beginning.