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Force Control/Impedance Control

asked 2019-03-05 02:28:13 -0600

MarkusHHN gravatar image

updated 2019-03-05 02:28:23 -0600

Hello everyone,

i am using the franka emika panda, which i would like to solve the "peg in the hole problem" (Peg in the Hole)

Therefore i need the force control to feel the object in the hole. I search for information, but i dont find any ROS packages or some information about this topic. The franka_ros package have some example, but it doesnt help me.

I hope here to get some advice or tips to make my own force control.

Regards Markus

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I think you have the external force in FrankaState, which you can get via a topic subscription to /franka_state_controller/franka_states and a callback, or you can yourself write a controller ...

aPonza gravatar image aPonza  ( 2019-03-05 03:25:28 -0600 )edit

... like explained here. To be honest, I understand the latter method means you'd implement an inherited interface but haven't looked much into it yet. Maybe the examples from franka_example_controllers can help there.

aPonza gravatar image aPonza  ( 2019-03-05 03:26:56 -0600 )edit

thank you for your advice. I trying to solve the problem with your information.

MarkusHHN gravatar image MarkusHHN  ( 2019-03-05 03:48:10 -0600 )edit

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answered 2019-03-05 16:55:25 -0600

AndyZe gravatar image

I don't know if anybody has defined ros_control velocity_controllers for the Panda. If they have, this pull request to ros_controllers will do what you want and more.

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thank you for your information. I think that will help me a lot

MarkusHHN gravatar image MarkusHHN  ( 2019-03-06 01:02:20 -0600 )edit

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Asked: 2019-03-05 02:28:13 -0600

Seen: 1,547 times

Last updated: Mar 05 '19