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robot-assisted-retraction

Iterative enhanced variable admittance control and null-space optimization

Prerequisites

Structure of the code

  • ATISensor.m This is matlab function, and used to read force/torque data from ATI sensors. It is worth noting that the Python package is used here, and you need to install NetFT using pip install NetFT in your Python environment.
  • Iterativee enhanced control and Null space.m This is the main code, which includes iterative enhanced variable admittance control and null-space optimization. It uses real-time from ATI sensors and velocity loop.
  • Interaction_model.m This is the fixed-parameters admittance control, and uses the bulit-in joint torque sensor of the KUKA.