franzesegiovanni/franka_ros_TUD

Add a dynamically consistent null-space control

Closed this issue 3 years ago · 4 comments

franzesegiovanni commented 3 years ago

And check if it is behaving differently when all the cartesian stiffness is down. Is the behaving better than the simple null-space control?

franzesegiovanni commented 3 years ago

Check these papers:
1)https://journals.sagepub.com/doi/abs/10.1177/0278364908091463?casa_token=hM-1sRVum98AAAAA:dif-YcVk1yMKSi6cbNQwainmU4-p-aEl7LQwboovE8UKIJbqgHYQ2IwkOPwLy_zc1Wn9KFXLSeEm
2)https://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.5.5033&rep=rep1&type=pdf

franzesegiovanni commented 3 years ago

https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6684300

franzesegiovanni commented 3 years ago

https://journals.sagepub.com/doi/pdf/10.1177/1729881420925297

franzesegiovanni commented 3 years ago

implemented equation 18 of https://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.5.5033&rep=rep1&type=pdf in https://github.com/franzesegiovanni/franka_ros_TUD/blob/impedance-track-ik/franka_example_controllers/src/cartesian_impedance_example_controller.cpp