Force Control with Inner Cartesian Pose Control
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Hi,
I would like to build a direct force controller in the z-axis with an inner cartesian pose loop. My approach is to try to adopt the "cartesian_pose_example_controller" provided by franka_ros.
So far, the force error signal (after PI) was used to calculate the delta_z. Then it is added to the desired position like new_pose[14] +=delta_z to move the robot. However, I got the "cartesian_motion_generator_joint_acceleration_discontinuity" error.
Then I tried to debug the problem by incrementing delta_z by 0.0001 and giving it to the new pose. The same error happens to me when I did like below:
delta_z += 0.0001; new_pose[14] += delta_z .
Can someone help me with this problem?
Thanks!
Closing due to inactivity. Please open this git issue again if the topic still exists.