Oscillation Behaviour for KUKA

Maybe the non-existing joint angle limits are the problem:

scl>>

Name: KukaBot(SRobotIOData) Dof: 7 Has been init: 1 q: 192.149 -13.5155 -535.44 -7.23402 679.397 -170.528 -272.923 dq: -1.59384 -0.0272345 2.64058 -1.95602 -7.43754 -5.48529 -1.66599 ddq: -37.9888 0.488936 5.61354 -81.5778 14.3381 54.1735 34.8319 Measured force: -0.429426 44.0301 14.2924 -12.2579 0.280795 1.34029 0.0115802 Command force: -0.429426 44.0301 14.2924 -12.2579 0.280795 1.34029 0.0115802

scl>>

Name: KukaBot(SRobotIOData) Dof: 7 Has been init: 1 q: 214.043 -12.1667 -548.518 -5.17283 685.617 -156.857 -269.121 dq: 5.33178 2.66488 -3.5307 -5.55886 -53.7961 -13.4402 43.1054 ddq: 20.8702 -124.915 -135.687 -20.5694 -302.76 -845.654 652.31 Measured force: 70.6654 -85.8089 23.5411 74.2039 -3.1038 -12.6151 -0.00597342 Command force: 67.2247 -79.3586 20.9666 73.9797 -3.06071 -12.0096 -0.00658164

scl>> print KukaOpc

Name: KukaOpc(STaskController) Init : 1

=== Task #0: Name: GcTask(STaskBase). Parent(KukaOpc) Init/Active : 1/1 Priority : 1 F_task : -512.196 36.7107 1000 -122.629 -604.618 330.435 -36.2355 F_gc : 71.2998 -18.8636 77.0223 -28.9467 -8.92768 -2.10251 0.0551197

=== Task #1: Name: NullSpaceDampingTask(STaskBase). Parent(KukaOpc) Init/Active : 1/1 Priority : 1 F_task : 375.434 -24.2321 -583.406 128.201 -257.224 -138.963 328.758 F_gc : -70.5173 50.7665 -17.5326 -24.768 7.61731 -0.326228 -0.018026

=== Task #2: Name: EndEffectorOrientation(STaskBase). Parent(KukaOpc) Init/Active : 1/1 Priority : 0 F_task : 0 0 0 F_gc : -0.0452091 -0.427922 -2.0654 -1.42874 -4.6731 0.860789 -0.00567187

=== Task #3: Name: EndEffectorPosition(STaskBase). Parent(KukaOpc) Init/Active : 1/1 Priority : 0 F_task : -4.28465 -9.52355 6.33207 F_gc : -9.55609e-309 -0.303916 -0.724716 -1.95172 -0.159981 -0.461969 0

scl>>

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