Forums › Niryo One › Troubleshooting › Potential solutions for V2 Joint 4 Elbow rotate over-heating › Reply To: Potential solutions for V2 Joint 4 Elbow rotate over-heating
Have any changes been made to the PID control values to improve the positioning accuracy and/or reduce the temperature build-up?
Trajectory planning includes velocity and acceleration which can be added to the Dynamixel PID feed forward.
If the Dynamixels can not be relied upon to reach their target position then perhaps a software undershoot/overshoot strategies should be explored.
Worst case a deadband should be implemented to change requested position once motion has stopped (with loss of positional accuracy).