Hi, I want to fulfill the function of Remote Center of Motion (RCM), and design an impedance controller to control the translation of the virtual point (3DOF) and the translation of the TCP simultaneously.
Is it possible to add a virtual frame so that I can directly call ZeroJacobian() or BodyJacobian()? Are there any examples for reference？
Hi, I want to fulfill the function of Remote Center of Motion (RCM), and design an impedance controller to control the translation of the virtual point (3DOF) and the translation of the TCP simultaneously. Is it possible to add a virtual frame so that I can directly call ZeroJacobian() or BodyJacobian()? Are there any examples for reference？