felixmaisonneuve
commented
1 year ago Hi @katallen405,
You can see what the rosservice /j2s7s300_driver/in/set_force_control_params does here : https://github.com/Kinovarobotics/kinova-ros/blob/d8a6b5a1434bdaed9b16fa7a14965ca8a1b8a998/kinova_driver/src/kinova_arm.cpp#L174
You see that it calls setCartesianInertiaDamping and setCartesianForceMinMax.
If you have installed the KinovaSDK 1.5.1 (available on our website), it provides html documentation. On Ubuntu, the default installation path is /opt/JACO-SDK/Documentation/OfflineDocumentation.html.
From there, you can search the API calls you want.
Force limits, damping, and inertia are pretty self explanatory, but basically they will affect cartesian admittance like this :
acceleration = (force_limits - dampin * velocity) / inertia
COM parameters are a bit more complicated. I would suggest to read the SetGravityOptimalZParam documentation page for a detailed explanation of what each parameter does.
Hope this helps, Felix
smoya23
Description
Is there documentation somewhere for the values and effect of the com parameters set by rosservice call /j2s7s300_driver/in/set_force_control_params "inertia_linear: {x: 0.0, y: 0.0, z: 0.0} inertia_angular: {x: 0.0, y: 0.0, z: 0.0} damping_linear: {x: 0.0, y: 0.0, z: 0.0} damping_angular: {x: 0.0, y: 0.0, z: 0.0} force_min_linear: {x: 0.0, y: 0.0, z: 0.0} force_min_angular: {x: 0.0, y: 0.0, z: 0.0} force_max_linear: {x: 0.0, y: 0.0, z: 0.0} force_max_angular: {x: 0.0, y: 0.0, z: 0.0}"
Version
ROS distribution : noetic-devel
Branch and commit you are using :
Details
I can run the /j2s7s300_driver/in/run_COM_parameters_estimation service, but the output does not match the inputs required for set_force_control_params service. What do these numbers mean, and how to they relate? I want to reduce the force required to move the arm in force control mode, but changing the parameters blindly does not seem to have changed the responsiveness, and it is unclear what units the values are in.