Elbow joint chattering during arm motion

[tildddaa]

Hi,

when running robot_state_launcher together with the manipulation_launcher, I observe a noticeable chattering sound in the arm joints when commanding arm motion. The motion completes, but with chattering most pronounced in the elbow joints.

What I’ve tried:

• Tuning ik_alpha
• Adjusting PD controller gains
• Lowered arm velocity

These changes had little to no noticeable effect on the chattering behavior.

Question:

• Has anyone else experienced similar arm or elbow joint chattering?
• Is this a known issue or expected behavior with the current controller or model?
• Are there recommended parameters or approaches for reducing this?

and thank you for this awesome work!