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This is a model of a robot in inspire. The joint angle data represents repeated cycle of pick and place. Why are there spikes in the torque data?
Hi @Deo,
The Motors you have defined are all trying to achieve a certain rotational displacement based on a table of values. The data in the table will be interpolated and the necessary amount of torque will be applied to achieve these displacement targets.
If we look at the table values, we can see several spikes in the interpolated data for all of your Motors:
To improve your results, you will need to improve the input data into these tables.
Hope this helps!
Adam Reid
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