MoveIt

Robot Jitter When Controlled by MoveIt

MIT

Robot Cannot Fully Reach Target Position

OpenArmX uses MIT mode by default. MIT is a composite torque-control mode based on KP and KD, without a KI position loop. Due to gravity effects, theoretically the bimanual robot cannot always reach the exact target position set by users. Increasing KP and KD can bring the robot closer to target.

If higher-precision position control is required, use CSP position mode. CSP can reach target positions more accurately, but its rated payload is 2 kg per arm, so it is not suitable for heavy-load motion.