Stiffness control and redundancy

[Cyberdine]

Hi,

I hope this is the correct section

If I’ve a redundant manipulator controlled by “Stiffness Control” in Cartesian space, how can I impose a desired posture (in joints space) while Stiffness Control  is controlling the tip in the workspace ?

[SkyeFire]

I suspect you have the wrong sub-forum.  The information you're looking for sounds like something that would be very brand-specific.  In fact, I have a hunch that you are dealing with a KUKA robot, probably an LWR, being controlled through the FIR interface.  Failing that, my next best guess is that you are using OROCOS.

[CrossConnect]

Can you clarify what stiffness Control u r using. As far as i know stiffness based controle is used only when the robot interact with the environment. If it moves in free space how do u use stiffness control. Correct me if i am wrong
.

Hi,

I hope this is the correct section

If I’ve a redundant manipulator controlled by “Stiffness Control” in Cartesian space, how can I impose a desired posture (in joints space) while Stiffness Control  is controlling the tip in the workspace ?