Difference between revisions of "Interaction Control Tutorial"

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= Impedance/Force control examples =
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== the script used in this example ==
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== apply force (30N) along z-axis of TCP frame ==
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== having more compliance along z-axis of TCP frame ==
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== impedance control with force limits (30N) along z-axis of TCP frame ==
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= Constrained Zero-G examples =
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== the script used in this example ==
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== constrained zero-G in position  ==
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== constrained zero-G in orientation ==
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== constrained zero-G in horizontal plane (XY) ==

Revision as of 20:03, 28 November 2017

This tutorial describes how to create different interaction control behaviors using example scripts.

Impedance/Force control examples

the script used in this example

apply force (30N) along z-axis of TCP frame

having more compliance along z-axis of TCP frame

impedance control with force limits (30N) along z-axis of TCP frame

Constrained Zero-G examples

the script used in this example

constrained zero-G in position

constrained zero-G in orientation

constrained zero-G in horizontal plane (XY)