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epfl-lasa / control-libraries

A collection of library modules to facilitate the creation of full control loop algorithms, including state representation, motion planning, kinematics, dynamics and control.
https://epfl-lasa.github.io/control-libraries
GNU General Public License v3.0
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Force gain matrix in Impedance #335

Closed domire8 closed 1 year ago

domire8 commented 1 year ago

Discussed in https://github.com/epfl-lasa/control-libraries/discussions/81

Originally posted by **buschbapti** March 25, 2021 At the moment, the impedance control law adds the force error in a feedforward fashion without the possibility to turn it off or scale it. I think we should add a gain matrix in front, set by default as `Identity` to have at least the possibility of removing the forces in controllers such as `Dissipative`.
domire8 commented 1 year ago

Relates to #333

From user feedback, there seems to be a need to act on this

domire8 commented 1 year ago

Closing in favor of #333