ros-industrial/universal_robot — pull request #85 by arennuit (2014-08-05 09:02:00+00:00)
Title: Fixed wobbling of the UR5 (UR10 untouched).

The default parameters for the UR5 (dynamic params and PID gains) cause the robot to be wobbly, shaky and not very stable. I updated the parameters so the simulation behaves nicely. There is certainly much better to be done (the tracking seems to be laggy), but this is already a much better start. Note that the robot needs to be fixed to the world - which is not the case by default.

The rough updated parameter values were initially provided by jalfonso in http://answers.ros.org/question/157261/manipulator-shakeswobbles/ and refined by me using dynamic reconfigure.

Thanks,

Antoine.