search

frankaemika / libfranka

C++ library for Franka research robots
https://frankaemika.github.io
Apache License 2.0
221 stars 147 forks source link

force_control.cpp #113

Closed PraveenElango closed 2 years ago

PraveenElango commented 2 years ago

Hi,

I was experimenting with the force_control file on the Franka robot, and I realised the the force_control file uses a PI controller and not a PID or PD controller. May I clarify why this is the case? Thank you!