/UR_Admittance

Admittance control demo for UR manipulator

Primary LanguageC++

Environment

ROS Melodic/Noetic

New Features

  1. Variable admittance control
  2. Set robot initial pose and position for simulating the real setting in our lab
  3. Set the consitant value T

Usage in Simulation

  1. Complie the file through
catkin build
  1. Source
source ~/{$workspace_name}/devel/setup.bash
  1. Bring UR10e in Gazebo:
roslaunch ur_e_gazebo ur10e.launch controller:=cartesian_velocity_controller_sim
  1. Run admittance control:
roslaunch Admittance Admittance.launch
  1. Exert external fake force:
roslaunch Admittance Wrench_Fake.launch

Parameters

Admittance control parameters: /control_algorithm/Admittance/config/AdmittanceParams.yaml

VAC parameters: Admittance.cpp

Fake external wrench: /control_algorithm/Admittance/src/WrenchSignalGenerate.cpp

TO DO

  1. Update the real setting
  2. Update the end-effector
  3. Check the end-effector orientation setting
  4. Add Moveit! function

Reference