There was a long discussion about speed control and naming of the servos with calamitys changes.
On my long flight from Miami to Zurich I concluded that speed control must be a stepwise process commanding the servo to do a lot of little steps according to loop time and speed settings.
So it should be possible to see whether the joint did move during the last increment or not?
Seeing that we are not at the target destination but also did not make any progress in the last / 2 last increments is telling us that
a) the servo is not strong enough to reach the position
b) the position is unreachable because of a collision
Just wondering - any comments about this?