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Admittance control of UR5 robot with jog_arm package

asked 2022-01-05 05:01:35 -0500

stevensu1838 gravatar image

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.

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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.

osilva gravatar image osilva  ( 2022-01-07 15:06:08 -0500 )edit

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answered 2022-01-10 08:40:31 -0500

AndyZe gravatar image

Cross-posted in several places already. I answered here: https://github.com/ros-planning/movei...

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Asked: 2022-01-05 05:01:35 -0500

Seen: 154 times

Last updated: Jan 10