PID values for controlling Elfin robot with using Effort Interface

[arianwu]

Hi, I am currently trying to implement a controller for the Elfin5 robot using a PD+gravity compensation controller, for that, I need to use the already available Effort Interface. Still, I need to tune the parameters for the PID of each joint. I wanted to know if there are any recommended PID values for each joint as well as the i_clamp value and whether to use anti-windup or not.

Thank you.

[crNewton]

Using arm_controllers/GravityCompController It works for me with pid & i_clamp values of 0. It does require some force to move the robot, so It would benefit from optimized parameters.