KUKA LBR Cartesian Impedance Control

A repository for controlling the KUKA lbr or med with cartesian impedance control.

Setup

Set the FRI impedance gains to zero

Follows the instructions reported in the lbr stack documentation that you can find here.
Set the stiffness of the JointImpedanceControlMode in the LBRServer.java to zero for each joint, i.e.:

control_mode_ = new JointImpedanceControlMode(0, 0, 0, 0, 0, 0, 0);

Then synchronize the application to update the changes.

Install

Clone this repo inside your ros2 workspace as the src folder

git clone --recursive [email protected]:idra-lab/kuka_impedance.git src

Install ros2 dependencies

rosdep install --from-paths src -i -r -y

Build the workspace

colcon build --symlink-install

Run the controllers

Gravity compensation

source install/setup.bash
ros2 launch lbr_bringup hardware.launch.py ctrl:=gravity_compensation

Cartesian impedance control

source install/setup.bash
ros2 launch lbr_bringup hardware.launch.py ctrl:=cartesian_impedance_controller

---

References

• Cartesian controllers
• lbr ROS2 stack