Hello all
I am trying to implement a torque PID control on a LBR IIWA 7. I have a list of the desired positions at different time steps (Recorded previously by handguiding the robot and reading the sensors as fast as possible). The idea is to find the error in position and then determine the joints torques to apply using a PID controller.
However, I have looked in the documentation for workbench (my version is 1.11) and I cannot find an option to control the robot's joint torques.
As a first step I have tried to implement a position follower - at every iteration the robot checks in which position it should be at this moment and goes to it. The problem is that my list of positions is at very fast frequency. In this case the robot doesn't have enough time to move to the new position (as it stops after each move() or moveAsync() command.) For this reason it makes much more sense to use a torque controller.
Thanks!