I have 4 lynxmotion lss arms that I want to control using velocity inputs. That is, my kinematic controller generates velocities which guides the end effector on a given path. I’ve been sending commands (e.g. “#1D0SD40”) to make the motors move to a given position with a given speed. However, I noted that the arm often shows jittery motion and does not move smoothly. I’ve checked my input velocities and noted that those velocities are gradually changing (i.e. no sudden large changes for the speed).
Could someone please let me know what exactly happens within the servo when a command to go to a position with a given velocity is sent to it?
What happens when I send another command to the motor before it finished moving to the previously given position? Does it stop the current motion and run the new command or simply changes velocity? If its a stop-go motion, then this may explain the jitter I observed.
The documentation for the LSS communication protocol simply says the servo will try its best to reach the given position with the given speed (e.g. with a command such as “#1D0SD40”). What does this actually mean? Is there another PID mechanism that slows down the servo when it gets closer to the target? How is the speed maintained throughout the motion?
Thanks in advance,