How to real-time control the robot to realise changing the contact force by adjusting the position of the end-effector?
I have a UR5e robotic arm. I am planning to make a program in Python, which will adjust the position of the end-effector according to the force signal.
Currently, I have received the force signal, I can move the robotic arm. But I am not sure how to combine them. And, the adjustment of the position of end effector will be consitnuous. For example, I will use PID control to set the target of force as -10N, then the program should adjust the position of the end-effector to fulfill the target.
Could any expert help? Thank you very much.
Could be a job for the cartesian_force_controller.
@gvdhoorn, could you share more information? How can I use the "cartesian_force_controller"? Is it a finished controller by UR, or? I will look into this, but if you could share more information, that will be good. Thank you.