I am trying to get smooth movement from the iiwa lbr while using FRI on KONI. From what I can tell I have a stable connection and have 0 jitter. the sunrise application uses a endless holdPosition command and I am streaming drive angles. As I stream the drive angles the robot has a stop and go motion (I should add that sometimes the motion appears smooth but the majority of the time there is the stop and go motion). I imagine this is because it reaches the position before the updated drive angles are sent via the fri client.
I am concerned that if I send drive angles that are farther ahead than the robot can move to on a constant basis wouldn't the robot constantly accelerator? I would like to place a know (non exception producing) velocity limit on the joint overlay however the only command I see that would do this is overrideJointAcceleration() but that must be between 1.0 and 20.0. Is there any get max acceleration or max velocity for a joint overlay or is there a way to reduce the max velocity.
Ultimately, I want to control the velocity based on the sample time to produce my own acceleration and velocity profiles but it appears that the iiwa wants to run full tilt from one fri client command to the next.
I am pretty new to the iiwa so there is probably something obvious I am missing, but any help would be greatly appreciated.
Thanks,
Siberian.