Hello everyone,
I have the following problem:
I'm using a LBR 4+. I'm working at the joint impedance control. I'm sending the stiffness I want in the joints by using the following command:
mystiff = $STIFFNESS
mystiff.STRATEGY= 30
mystiff.AXISSTIFFNESS={A1 10, A2 10,A3 10,A4 10,A5 10,A6 10,E1 10}
$STIFFNESS = mystiff
and this works. But what want to do know is to grab the stiffness values from FRI. I have the robot connect via MATLAB and I send the message, no problem. What I want is to write the code to the controler to read the $STIFFNESS strucuture that it receives.
Any idea in how I can do that?
Or can anyone tell me where can I found how the stiffness structure is?
Thank you all in advance