Hello,
For my project, I am using 2 Dynamixel MX-64T servo motors and one Dynamixel MX-106T servo motor. In my application I would like to program the position of the motors using torque control. I am planning to achieve this by programming a PID controller in order to send torque commands to achieve the desired position. Note this PID controller would be external to the internal PID controller which housed inside the servo motor. When I try to operate the PID controller with the three motors, I constantly find that one of the Dynamixel MX-64T motors experience a “twitchy” behaviour (the motor reaches the desired position - stays there for a couple of seconds - then it suddenly rotates quickly and oscillates - returns back to the desired position - then the cycle repeats). The other two servo motors work as expected. I have tried output the current position of the servos to a serial port and I found that every so often I would get a -1 from the problematic Dynamixel MX-64T servo. I think that I might be writing to the servo at a rate that is faster than the rate I am writing at. I am not sure how I can verify this. Also, if that is the case why I am I not seeing a similar issue with the other servos.
Please let me know if you have any ideas how I can get rid of (or better diagnose) this twitching problem.
Thanks