Hi, I am trying to implement impedance control on UR10e. My idea is to create virtual forces (passed via rtde or TCP/IP) and move the TCP according to these forces. Once the virtual force is no more applied the robot should come back to a start home position in a spring-like way. I have seen that these idea can be achieved by mode force_mode, but I would like to understand more.
Thanks a lot in advance
I think I have seen some researchers dealing with this.
Some info I have found:
I do not want to implement it via ROS. I would like to know if there is a possibility to implement it via RTDE using force control()