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()
It is possible to achieve the same. We have done it in UR5e. Feel free to connect.
Hi @marco.dalcanto,
It seems like @udayanbanerjee15 is doing what you are also targeting to do. From the distance to your home position you can calculate the force/torque the robot should target. You can then use force_mode() or this implementation to try to reach that target. URScript_Examples/admittance-control at main · UniversalRobots/URScript_Examples · GitHub
In both cases you should keep adjusting the target, like it is described here: Universal Robots - URScript: Dynamic Force Control
Ebbe
Hi! This is really a great work!!
Could you please tell me how do you control the robot? By ros or RTDE?
Thanks in advance, have a nice day!
Hi Yuhan,
We have done it using RTDE and python. In the link attached below you can see an improved response for the same in both orientation and translation coordinates.
https://drive.google.com/file/d/13IaBfYpY-aNxM1I6_poCZ5ptjssn6sxv/view?usp=sharing
Hi there~
it is really an amazing work!!
I am also doing this work recently, could you please give me some tutorials?
Thank you in advance!
Have a nice day~~