[ros-users] [GSoC Project] Cartesian Impedance Control
kphawkins at gmail.com
Sun May 1 00:29:45 UTC 2016
Wrote a hybrid force controller a long time ago based on the Cartesian
controller for the PR2:
>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.
It assumes a force torque sensor at the wrist, however.
Here's a simple Cartesian position controller I wrote about a year and a
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.
I can't promise any support, but hopefully this code will point you in the
On Apr 30, 2016 6:39 PM, "KILOREUX Emperex via ros-users" <
ros-users at lists.ros.org> wrote:
> 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.
> On Sat, Apr 30, 2016 at 11:14 PM, Risto Kojcev via ros-users <
> ros-users at lists.ros.org> wrote:
>> Dear ROS Users,
>> 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 here
>> 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.
>> Thank you so much for your help.
>> ros-users mailing list
>> ros-users at lists.ros.org
> ros-users mailing list
> ros-users at lists.ros.org
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