frankaemika/libfranka

How does cartesian control work under the hood?

Opened this issue 4 years ago · 0 comments

peasant98 commented 4 years ago

Hi, I was curious how the Franka Panda generates joint trajectories from desired Cartesian poses.

I noticed https://frankaemika.github.io/libfranka/generate_cartesian_pose_motion_8cpp-example.html, but it doesn't seem to show what's really happening under the hood.

Thanks!