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Right shoulder yaw motor moves suddenly when the lower arm is touched #1696

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GiulioRomualdi opened this issue Nov 30, 2023 · 3 comments
Closed

Right shoulder yaw motor moves suddenly when the lower arm is touched #1696

GiulioRomualdi opened this issue Nov 30, 2023 · 3 comments
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@sgiraz @AntonioConsilvio
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ergoCub 1.1 S/N:001 ergoCub1.1 platform

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@GiulioRomualdi
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Robot Name 🤖

ergoCub 1.1 S/N:001

Request/Failure description

While touching the lower arm the shoulder yaw started moving. The motor was controlled in position

Detailed context

IMG_3168.MOV

Additional context

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How does it affect you?

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@GiulioRomualdi GiulioRomualdi added the ergoCub 1.1 S/N:001 ergoCub1.1 platform label Nov 30, 2023
@github-actions github-actions bot changed the title Right shoulder yaw motors move suddenely when the lower arm is touched ergoCub 1.1 S/N:001 – Right shoulder yaw motors move suddenely when the lower arm is touched Nov 30, 2023
@GiulioRomualdi GiulioRomualdi changed the title ergoCub 1.1 S/N:001 – Right shoulder yaw motors move suddenely when the lower arm is touched Right shoulder yaw motor moves suddenly when the lower arm is touched Nov 30, 2023
@maggia80
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@AntonioConsilvio let's change the https://github.com/robotology/robots-configuration/blob/master/ergoCubSN001/hardware/motorControl/right_arm-eb3-j2_3-mc_service.xml replacing AMO with NONE

@AntonioConsilvio
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@AntonioConsilvio let's change the https://github.com/robotology/robots-configuration/blob/master/ergoCubSN001/hardware/motorControl/right_arm-eb3-j2_3-mc_service.xml replacing AMO with NONE

Hi @maggia80, I did it and now it works properly.

cc @GiulioRomualdi

@AntonioConsilvio AntonioConsilvio moved this from Triage to Review/QA in iCub Tech Support Dec 1, 2023
@sgiraz
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sgiraz commented Jan 4, 2024

Ok, after disabling the AMO sensor the problem is gone.
I would close this issue.
Thanks @AntonioConsilvio!

cc @GiulioRomualdi

@sgiraz sgiraz closed this as completed Jan 4, 2024
@github-project-automation github-project-automation bot moved this from Review/QA to Done in iCub Tech Support Jan 4, 2024
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@sgiraz sgiraz

@AntonioConsilvio AntonioConsilvio

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ergoCub 1.1 S/N:001 ergoCub1.1 platform
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iCub Tech Support
Status: Done
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4 participants
@maggia80 @GiulioRomualdi @sgiraz @AntonioConsilvio