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frankaemika / franka_ros

ROS integration for Franka research robots
https://frankaemika.github.io
Apache License 2.0
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Can anyone provide guidance on nullspace self motion for this robot? #235

Closed Yitian-Xian closed 1 year ago

Yitian-Xian commented 2 years ago

Hi all, I am currently working on nullspace self motion for this robot but cannot figure out how. Can anyone provide any tutorials on this? Thanks!

peetCreative commented 2 years ago

Hi, I think when using cartesian control commands the nullspace movements of the robot is more or less hiden in the black box of the robot. However there are example controller, with nullspace movements e.g. the cartesian_impedance_example_controller. To be honest for someone without background knowledge it's not easly to be understood by the code. I was stuck there a while ago as well and requested better docs as well. So I guess the nullspace of this robot works as any other robotarm. So I started studying e.g. here. However they don't start from ground. Robotics control is probably a quite wide field. I think about make a PR with a better documented version of cartesian_impedance_example_controller

matthias-mayr commented 1 year ago

We implemented dynamically configurable nullspace control in our Cartesian impedance controller implementation (https://github.com/matthias-mayr/Cartesian-Impedance-Controller). It's robot agnostic, so it works with the Panda as well as with any other torque-controlled manipulator. Feel free to check out the paper about it as well: https://arxiv.org/abs/2212.11215

Maverobot commented 1 year ago

As good examples are provided above, I will close the issue.