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MingshanHe / Compliant-Control-and-Application

Compliant Control: 1) admittance control algorithm 2) impedance control algorithm 3) hybrid force&position algorithm in robotic arm (Universal Robot).
https://mingshanhe.github.io/Compliant-Control-and-Application/
MIT License
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Real UR5e robotic arm #35

Open ljc0815 opened 1 year ago

ljc0815 commented 1 year ago

Hello, which launch file do you use for the real robotic arm?

MingshanHe commented 1 year ago

First, You need to use the launch file in the Universal Robot ROS Driver to create the communication between the PC and UR5e, Because this official driver is based on ros_control then you can upload my cartesian velocity controller to ros_control framework. Then you need to run the admittance launch file.

ljc0815 commented 1 year ago

Glad to hear from you, I will has been changed to the cartesian_velocity_controller_sim/ee_state you set after starting UR5e, but it still shows after running: [ WARN] [1688530492.488529841, 22.252000000]: Waiting for the state of the arm... [ WARN] [1688530492.510824086, 22.264000000]: Waiting for TF from: base_link to: wrist_3_link [ INFO] [1688530493.511614754, 23.111000000]: The Force/Torque sensor is ready to use. [ INFO] [1688530493.512659195, 23.111000000]: Running the admittance control loop ................. [ WARN] [1688530493.512940423, 23.112000000]: Admittance generates high arm accelaration! norm: 1.32161

zbj165 commented 11 months ago

Glad to hear from you, I will has been changed to the cartesian_velocity_controller_sim/ee_state you set after starting UR5e, but it still shows after running: [ WARN] [1688530492.488529841, 22.252000000]: Waiting for the state of the arm... [ WARN] [1688530492.510824086, 22.264000000]: Waiting for TF from: base_link to: wrist_3_link [ INFO] [1688530493.511614754, 23.111000000]: The Force/Torque sensor is ready to use. [ INFO] [1688530493.512659195, 23.111000000]: Running the admittance control loop ................. [ WARN] [1688530493.512940423, 23.112000000]: Admittance generates high arm accelaration! norm: 1.32161

Hello, have you solved this problem? I am trying to activate admittance control on the physical robotic arm, but all have failed. How should I activate it.