From e781a6e42f3be69b82fa547aa3e18dee1ff743e9 Mon Sep 17 00:00:00 2001
From: Quella <2892744389@qq.com>
Date: Tue, 24 Feb 2026 22:14:00 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9C=BA=E6=A2=B0=E8=87=82=E4=BB=BF=E7=9C=9F?=
 =?UTF-8?q?=E5=92=8Cros=5Fcontrol?=
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---
 simulation_ws/robotic_arm/config/controllers.yaml | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/simulation_ws/robotic_arm/config/controllers.yaml b/simulation_ws/robotic_arm/config/controllers.yaml
index 3114823..97199f5 100644
--- a/simulation_ws/robotic_arm/config/controllers.yaml
+++ b/simulation_ws/robotic_arm/config/controllers.yaml
@@ -1,10 +1,12 @@
 six_axis_arm:
+  # 状态发布
   joint_state_controller:
     type: joint_state_controller/JointStateController
     publish_rate: 50
 
+  # 轨迹控制
   arm_position_controller:
-    type: position_controllers/JointTrajectoryController
+    type: position_controllers/JointTrajectoryController # 使用关节轨迹控制器:让机器人按照轨迹运动到目标位置
     joints:
       - joint1
       - joint2
@@ -13,6 +15,7 @@ six_axis_arm:
       - joint5
       - joint6
     gains:
+      # 每个关节的PID增益设置
       joint1: { p: 100, d: 10, i: 0.01 }
       joint2: { p: 100, d: 10, i: 0.01 }
       joint3: { p: 100, d: 10, i: 0.01 }