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frankaemika / libfranka

C++ library for Franka research robots
https://frankaemika.github.io
Apache License 2.0
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Can I combine cartesian_impedance_control.cpp and generate_cartesian_pose_motion? #79

Open Africaggy opened 4 years ago

Africaggy commented 4 years ago

Can I combine cartesian_impedance_control.cpp and generate_cartesian_pose_motion?I want Franka panda have impendance when It moving

AndreasKuhner commented 1 week ago

Hi @Africaggy , of course you can. The cartesian_impedance_control.cpp example might be a good start point. Instead of minimizing the error to some initial position, you could try to follow a trajectory... :thinking:

Cheers, Andreas