search

frankaemika / libfranka

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

Mounting Franka Horizontally (on a wall) #118

Closed yifanzhu95 closed 2 years ago

yifanzhu95 commented 2 years ago

We are trying to mount a Franka arm horizontally on a wall. What we did is to use torque control mode where we would need to subtract the wrong gravity compensation (gravity at a vertical mounting config) and add the correct gravity compensation. This works fine. However, when the control loops starts, there would be a drop of the robot arm when it transits from idle to torque control. Is there a way to get rid of this behavior?

marcbone commented 2 years ago

The robot is not meant to be mounted horizontally, it also says so in the manual. For example, the user-guiding mode will wrong-behave as it expects the the robot to be mounted upright and therefore, wrongly compensates the gravity. So you are on your own. However, If you somehow find a solution feel free to reply here. Out of curiosity: How much does the robot move in the transit phase?

yifanzhu95 commented 2 years ago

It depends on the configuration of the robot. At the worst, the end-effector could move about 4-6 cm.