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epfl-lasa / kuka-lwr-ros

ROS KUKA robot control (simulation & physical)
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differences between joint_impedance_controller and joint_position_impedance_controller #19

Closed itfanr closed 5 years ago

itfanr commented 5 years ago

And are there some documents to show the principle or formula? Thank you.

gpldecha commented 5 years ago

@itfanr All the controllers used are in lwr_controllers/joint_controllers.h and oint_controllers.cpp.

You will find:

boost::scoped_ptr ff_fb_controller; boost::scoped_ptr cartesian_velocity_controller; boost::scoped_ptr cartesian_position_controller; boost::scoped_ptr joint_position_controller; boost::scoped_ptr gravity_compensation_controller; boost::scoped_ptr passive_ds_controller; This is the main starting point. There is a lot of legacy code in this repo and it has not been cleaned up for ome time.

gpldecha commented 5 years ago

@itfanr there seems to be many different branches as well.

itfanr commented 5 years ago

May be legacy code made me confused. Thank you. @gpldecha

itfanr commented 5 years ago

@gpldecha I have read many aiticles, but can you tell me what does passive_ds_controller mean exactly?

sinamr88 commented 5 years ago

You should read this paper: https://infoscience.epfl.ch/record/221276?ln=en