Interaction Control Tutorial

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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)