Joint_trajectory_controller with effort control real robot.

asked 2021-05-10 06:58:07 -0500

macieksz gravatar image

We are looking for market available robot arm using joint_trajectory_controller with effort control. I meant 2-5 kg payload/6-7 DOF. Not a toy. Cannot find...

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Franka Emika's Panda?

It's not using the JTC itself directly, but I believe you can configure their ROS driver stack with one. It's all ros_control based in any case.

There are also ros_control compatible drivers for KUKA IIWAs and LBRs which IIRC expose a joint effort interface.

I would not call any of those toys.

Edit: I'm curious as to why you are looking for robots with effort interfaces though. The JTC will still basically use it to execute position-based trajectories.

gvdhoorn gravatar image gvdhoorn  ( 2021-05-10 07:30:13 -0500 )edit

I built my own robot arm using STM motor control sdk. To control robot i need to pass torque data to uController, while i can read position from encoder. Position only cannot provide correct trajectory control.

macieksz gravatar image macieksz  ( 2021-05-13 10:10:55 -0500 )edit