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This PR adds an example of force/torque actuation/readings using a KUKA LBR4 #8

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This PR adds an example of force/torque actuation/readings using a KUKA LBR4 #8

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9c24705
Added the example panda_kinematic_control, which uses the DQ_Pseudoin…
ffasilva May 15, 2023
4289515
Merge branch 'master' of https://github.com/ffasilva/matlab-examples
ffasilva May 15, 2023
23c1db6
Added the missing license header to the file 'panda_kinematic_control'.
ffasilva May 28, 2023
fdfdcf7
Merge branch 'dqrobotics:master' into master
ffasilva Jun 28, 2023
f7d41c3
Added example 'vrep/panda-torque-control'.
ffasilva Jul 10, 2023
9af4381
Replaced Panda torque control example by KUKA LBR4 control example.
ffasilva Jul 25, 2023
a50de7e
[lbr4_torque_control.m] Removed the use of 'LBR4VrepRobot' class and …
ffasilva Aug 15, 2024
99d043c
Merge branch 'dqrobotics:master' into dq-vrepinterface-get-force-sens…
ffasilva Aug 15, 2024
15691b1
[lbr4_torque_control.m] Updated comments and minor code clean-up.
ffasilva Aug 15, 2024
48ba7e1
Merge branch 'dq-vrepinterface-get-force-sensor-readings' of https://…
ffasilva Aug 15, 2024
6efb2dd
[lbr4_torque_control.m] Updated comments.
ffasilva Aug 15, 2024
3ead834
[lbr4_torque_control.m] Added copyright.
ffasilva Aug 15, 2024
d1dda28
[lbr4_torque_control.m] Updated comments.
ffasilva Aug 15, 2024
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10 changes: 7 additions & 3 deletions vrep/lbr4-torque-control/lbr4_torque_control.m
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,11 @@
vi.wait_for_simulation_step_to_end();

% Define robot interface
robot_vrep = LBR4pVrepRobot('LBR4p', vi);
robot_name = 'LBR4p';
for i=1:7
current_joint_name = {robot_name,'_joint',int2str(i)};
joint_names{i} = strjoin(current_joint_name,''); %#ok
end

%% Definition of the actuation torque
tau = [-0.005; -25; 0; -30; -0.007; 0; 0];
Expand All @@ -44,7 +48,7 @@
%% Main control loop for the first desired pose
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while(iteration <= max_iteration)
% Robot actuation in V-REP
robot_vrep.send_tau_to_vrep(tau);
vi.set_joint_torques(joint_names, tau);
vi.trigger_next_simulation_step();
vi.wait_for_simulation_step_to_end();

Expand All @@ -53,7 +57,7 @@
disp(' ')

% Read joint torques from V-REP
tau_read = robot_vrep.get_tau_from_vrep;
tau_read = vi.get_joint_torques(joint_names);

formatSpec = 'Joint torque read from V-REP: %f\n';
fprintf(formatSpec,tau_read);
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