ergoCub 1.1 S/N:001 – Small Jumps in wrist motion during smooth trajectory execution

[vigisushrutha23]

Robot Name 🤖

ergoCub 1.1 S/N:001

Request/Failure description

While doing some tests for the updated firmware on the wrists with @PasMarra , we observed that the wrist seems to show small jumps while executing minimum jerk trajectories. Unfortunately these are not visible in the plots as reported in #261 .

Detailed context

Here are the videos showing few of the jumps.

MicrosoftTeams-video.2.mp4

MicrosoftTeams-video.1.mp4

MicrosoftTeams-video.mp4

On suggestion mentioned in #261 , it could be a mechanical issue but otherwise I am not sure how to debug this in more detail.

Additional context

No response

How does it affect you?

I suspect this might lead to some cartesian estimation errors and slightly lower-quality grasp/manipulation for longer experiments that need very good precision.

[S-Dafarra]

On the 000 a similar thing was caused by one belt jumping between teeth. This ultimately led to the belt breaking: #1940