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xArm-Developer / xArm-CPLUS-SDK

C++ SDK for UFACTORY robots, 850, xArm5/6/7, and Lite6.
https://www.ufactory.cc/
BSD 3-Clause "New" or "Revised" License
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example/8002-impedance.cc not working #8

Closed AntoBongio closed 2 years ago

AntoBongio commented 2 years ago

Hi,

I am testing the new functionalities added with the 1.8.0 version, but I can not make work the example of impedance control. After I enable the sensore, I receive the error code: 50 (Force sensor read error). There is something missing in this example?

Thanks for your attention. I am looking forward to your reply.

vimior commented 2 years ago

Hi @AntoBongio , this requires an external six-dimensional torque sensor.

AntoBongio commented 2 years ago

Hi @AntoBongio , this requires an external six-dimensional torque sensor.

Hi @vimior , thank you for the reply, but how do you send the sensor measurements to the xarm API?

vimior commented 2 years ago

Hi @AntoBongio , this six-dimensional sensor is one of our products, it needs to be connected to the control box, the sensor data can be read through the control box.

AntoBongio commented 2 years ago

Perfect! @vimior We bought the xArm7 with the control box, but there was no any F/T sensor associated at that time (from what I remember). I was wondering if there is a way to give to the control box the input of our external F/T sensor, it would be very nice!!

vimior commented 2 years ago

@AntoBongio We haven’t officially released this device yet. In addition, I’m sorry, but third-party torque sensors are not yet supported.

MinnaZhong commented 2 years ago

Case 8001 to 8010 can only be used with our 6 Axis Force Torque Sensor. The user manual of 6 Axis Force Torque Sensor can be downloaded in : https://www.ufactory.cc/pages/download-xarm

Issue closed.