<p dir="ltr">Wrote a hybrid force controller a long time ago based on the Cartesian controller for the PR2:</p>
<p dir="ltr"><a href="https://github.com/gt-ros-pkg/hrl-pr2-behaviors/blob/master/hrl_pr2_force_ctrl/src/hybrid_force_controller.cpp">https://github.com/gt-ros-pkg/hrl-pr2-behaviors/blob/master/hrl_pr2_force_ctrl/src/hybrid_force_controller.cpp</a></p>
<p dir="ltr">From what I remember, you should be able to send it a local direction cosines frame which allows you to decompose the Cartesian controller into control in the 3 linear dimensions and the 3 angular dimensions. For each dimension, you could pick whether it applies a target force using a PI controller or controls to a set point with individually specified impedance gains. Also does control in the null space. </p>
<p dir="ltr">It assumes a force torque sensor at the wrist, however. </p>
<p dir="ltr">Here's a simple Cartesian position controller I wrote about a year and a half ago:<br>
<a href="https://github.com/gt-ros-pkg/ros_controllers/tree/cartesian-ctrl/cartesian_position_controller">https://github.com/gt-ros-pkg/ros_controllers/tree/cartesian-ctrl/cartesian_position_controller</a></p>
<p dir="ltr">This was designed to work with ros-control, but might have only worked with my fork of ros-control. This should let you set gains for each direction and possibly let you pick the orocos solver for inverse velocity.</p>
<p dir="ltr">I can't promise any support, but hopefully this code will point you in the right direction.</p>
<p dir="ltr">-Kelsey</p>
<div class="gmail_quote">On Apr 30, 2016 6:39 PM, "KILOREUX Emperex via ros-users" <<a href="mailto:ros-users@lists.ros.org">ros-users@lists.ros.org</a>> wrote:<br type="attribution"><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><div dir="ltr">Hey,<div><br></div><div>I am following a Master's degree in robotics and we use ROS extensively here, I'd be happy to give you a hand or any feedback you need.</div></div><div class="gmail_extra"><br><div class="gmail_quote">On Sat, Apr 30, 2016 at 11:14 PM, Risto Kojcev via ros-users <span dir="ltr"><<a href="mailto:ros-users@lists.ros.org" target="_blank">ros-users@lists.ros.org</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><div dir="ltr">Dear ROS Users,<div><br></div><div>For this year GSoC I would like to develop and Interface for Cartesian Impedance/Force Control for ROS. More details of the submitted project idea can be found <a href="https://storage.googleapis.com/summerofcode-prod.appspot.com/gsoc/core_project/doc/1458900878_RistoKojcev-ProposalImpedanceForceControl.pdf?Expires=1462140669&GoogleAccessId=summerofcode-prod%40appspot.gserviceaccount.com&Signature=4o1xwyw6uF6cYtjvxPyQWnkuYrJ%2BBj5Ot26zkJ%2BumT44GNVJLwVETL0OsAfRDRGaTsmti%2FyiRMArGLqhabNS6yoXeB%2B%2BEAT30l4%2BsgXojCmIbo3GDQmF%2FIJjnZmvRDdQt1FzqXsFUKmg0xcLp6i9hGRTwCPcY0Ia5MJ%2B9eu8qHpdknVif2dFUinOsZCa9SM2Fi0X5pRGBFIxs9q3b3DYxON0VhOvL%2Bb3VBCUbaEoGeIYi9zxLAdRJ2%2FGkRGsP%2F8EBN%2FgNFXdzZdskWxnHfoR9boGC%2F2sp%2Fh6o88%2Fbju8DK97hmI4saYEI0dpuinruRvCwb3iuxMWw%2Ft3Pno9HrPRgw%3D%3D" target="_blank">here</a>.</div><div><br></div><div>In order to develop an useful tool for the community I would like to get feedback from the ROS users regarding some of the components the interface should have to make it more useful and applicable.</div><div><br></div><div>Thank you so much for your help.</div><span><font color="#888888"><div><br></div><div>Risto</div></font></span></div>
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