Regarding impedance-control frame rates

xArm-Developer / xArm-Python-SDK

Python 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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Open onda-ais opened 9 months ago

onda-ais commented 9 months ago

I have a question about the impedance control you guys offer.

Is the frame rate for impedance control equal to the "ft_freq" obtained by get_set_ftsensor_config()?

Your answer would be appreciated!

penglongxiang commented 9 months ago

Actually, No. The "ft_freq" obtained is the sampling frequency of FT sensor, the rate of impedance control is 200Hz.

onda-ais commented 9 months ago

Thank you for your answer. I understand.

By the way, is it possible to change the frequency from 200Hz to a different value?

penglongxiang commented 9 months ago

No, the control frequency is fixed at this moment, and already the highest for the current system design.

onda-ais commented 9 months ago

Thank you for your response. My question has been answered.