Admittance control of UR5 robot with jog_arm package
I know how to use jog arm package (Realtime Arm Servoing) well.
And I've got a force/torch sensor. May I please ask how I can achieve admittance control of UR5 robot with jog_arm package?
I know I can use the force/torch signals to direct control the the linear velocity and angular velocity of the UR5 robot. But how about the coefficient between force and velocity? Do I need to programe my own admittance controller in c++ or python? Is there ready to use ROS package to do it? Thanks a lot. Cheers.
Hi @stenvsu1838 have you seen Ridgeback+Ur5 Controller package? It includes admittance control. Also refer to this discussion on the subject: https://forum.universal-robots.com/t/.... Hopefully this gets you closer to a solution.