Interaction Control Tutorial

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

Impedance/Force Control Examples

Interaction controller in intera enables impedance or force control at the endpoint of the arm. The following examples demonstrate using example scripts to create different interaction control behaviors.

start a default interaction control behavior at the endpoint

$ rosrun intera_examples go_to_joint_angles_in_contact.py

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

$ rosrun intera_examples set_interaction_options.py -md 1 1 2 1 1 1 -f 0.0 0.0 30.0 0.0 0.0 0.0 -ef -kn 0.0 0.0 0.0 0.0 0.0 0.0 0.0

having more compliance along z-axis of TCP frame

$ rosrun intera_examples set_interaction_options.py -m 1 1 0 1 1 1 -k 1300.0 1300.0 500.0 30.0 30.0 30.0 -ef -kn 0.0 0.0 0.0 0.0 0.0 0.0 0.0

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

$ rosrun intera_examples set_interaction_options.py -md 1 1 3 1 1 1 -f 0.0 0.0 30.0 0.0 0.0 0.0 -ef -kn 0.0 0.0 0.0 0.0 0.0 0.0 0.0

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)