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Impedence control #217
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hi @zzrobot1979, yes, you can do impedance control. In impedance control, do you wish to control positions or torques? |
Thank you very much for your reply! I want to make the end of my kuka robot arm move smoothly along a certain space vector under a constant contact force. Maybe I should control the speed and force/torque of the end of the robot arm at the same time? |
hope this demo gets you up to speed: but essentially when running ros2 launch lbr_bringup hardware.launch.py \
ctrl:=lbr_wrench_command_controller \
model:=iiwa7 # [iiwa7, iiwa14, med7, med14] this loads a This is not ideal yet, as it would be easier to chain controllers #115, which isn't implemented yet. |
Thank you very much for your reminder! I would like to know how to calibrate the quality of the end effector of the robot arm? Is this process configured in sunrise or can it be done by changing some parameters of this project? |
Another question is: how to realize the movement of the robot in lbr_demos/lbr_demos_py/lbr_demos_py/wrench_sine_overlay.py? Is it controlled by the line of code |
yes, the load data calibration needs to be done on the smart pad, can try to provide some instructions
that's correct. The target joint position is set exactly there ( |
Thank you for your answer. I have another question. Is it necessary to purchase the FRI expansion package of KUKA to realize your team's project? Or is the expansion package the link under your repository? https://github.com/lbr-stack/fri |
yes, it is a paid option. That said, often it is purchased. In the documentation https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/hardware_setup.html#install-applications-to-the-robot under |
Hello: I would like to know whether impedance control can be achieved in this project, or can it be achieved directly using the wrench method?
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