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CentroEPiaggio / kuka-lwr

Software related to the KUKA LWR 4+: for real and for simulation.
The Unlicense
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What are the high frequency command capacities of the package ? #64

Closed nstaub closed 7 years ago

nstaub commented 8 years ago

I have to use a kuka-lwr 4+ for a project and would like to command it through ROS. I would like to use the package kuka-lwr that you developed, but before could you provide me the following detail is it possible to do joint impedance control or pure joint torque control at 1kHz, if not what are the performance achievable with classical ubuntu setup or is there any alternative out there ?

Thanks in advance, Nicolas

carlosjoserg commented 8 years ago

Hi @nstaub,

Right now, I don't think you can. So far, I've tested the joint impedance strategy only sending position and stiffness @500Hz (2ms) top.

Back in old times, we managed to do joint position / Cartesian impedance strategy @1Khz with @manuelbonilla using the Stanford FRI libraries on regular Ubuntu.

On the other hand, the IOC group at Barcelona lead by @lepalom, has CMake'd (among other small useful mods) those libraries here, which are already linked in this project, see here. They can do torque control @1KHz on Debian/Xenomai.

Thus, we are working on testing that interface behind the ros-control layer to see if we can have the RT option within the package.