Hybrid Force Position Controllers for Kuka LWR
Overview
This package contains three controllers:
-
cartesian_position_controller: an operational space controller required to
move the end effector in a desired position using inverse kinematics;
-
cartesian_inverse_dynamics_controller: an operational space controller
performing dynamics inversion (also wrenches at the end effector are compensated);
-
hybrid_impedance_controller: an operational space controller implementing the
hybrid impedance controller proposed by Spong (it uses the
cartesian_inverse_dynamics_controller to perform dynamics inversion);
-
ft_sensor_controller: a JointStateInterface controller performing transformations
on the force/torque measurements provided by the sensor.
External packages required
In order to run some external packages are required:
In order to compile the GUI you also need ros-*-qt-build.
How to run a simulation
WARNING: in order to run the simulation you MUST set every <damping> and <friction> tag in kuka_lwr.urdf.xacro
to 0.0 and disable the <collision> section of the 7-th link.
- roslaunch lwr_force_position_controllers single_lwr.launch
How to run using the real robot
- roslaunch lwr_force_position_controllers single_lwr.launch use_lwr_sim:=false lwr_powered:=true
Authors