/Admittance_experiment_on_UR

使用ROS+UR实现的导纳实验

Primary LanguageC++

使用

1. 静止导纳实验

  • 仿真测试

    #打开rviz
roslaunch ur_examples control.launch  type:=admittance_Control  is_remoted_control:=false
    #tcp末端施加[10,20,30,10,10,10]N的力
rostopic pub /force_torque_control std_msgs/Int64MultiArray "layout:
  dim:
  - label: ''
    size: 0
    stride: 0
  data_offset: 0
data: [10,20,30,10,10,10]"

  • 实物测试

    roslaunch ur_examples control.launch  type:=admittance_Control  is_remoted_control:=true

2. 运动导纳实验

2.1 直线-力位混合

  • 仿真

    #打开rviz
roslaunch ur_examples control.launch  type:=moveL_admittance_Control  is_remoted_control:=false
    #TCP末端施加力
rostopic pub /force_torque_control std_msgs/Int64MultiArray "layout:
  dim:
  - label: ''
    size: 0
    stride: 0
  data_offset: 0
data: [0,20,30,10,10,10]"

  • 实物测试

    roslaunch ur_examples control.launch  type:=moveL_admittance_Control  is_remoted_control:=true