Difference between revisions of "Interaction Control Tutorial"

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= Impedance/Force control examples =
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= Impedance/Force Control Examples =
  
 
== the script used in this example ==
 
== the script used in this example ==
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== impedance control with force limits (30N) along z-axis of TCP frame ==
 
== impedance control with force limits (30N) along z-axis of TCP frame ==
  
= Constrained Zero-G examples =  
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= Constrained Zero-G Examples =  
  
 
== the script used in this example ==  
 
== the script used in this example ==  
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== constrained zero-G in horizontal plane (XY) ==
 
== constrained zero-G in horizontal plane (XY) ==
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Revision as of 20:04, 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)