Hi all,
I am working on this project where I am using both Torque control and Angle control simultaneously. I want torque control to have haptic feedback while manual rotation and precise position using angle control when the remote command comes. In both cases, I want the same index for both algorithms so they stay in sync. I tried implementing it and as far it works fine. There are still some improvements needed regarding tuning and all. I see motor jerks when the motor reaches the target position given by remote command and switches back to manual control. I don’t know how to handle this. Please help me out. Also, when I try to go beyond end points in manual control, the motor sometimes springs back and overshoots the end point. I want the motor to stop at the end point when I release it beyond end point.