Hey everyone,
I am new to iiwa programming. I am currently working on an application for human-machine collaboration. Unfortunately, I sometimes run into axis limit violations: When the robot is in Cartesian Impedance Control Mode and the User pushes an axis to its limits, an exception is thrown. How can I avoid this by "blocking" each axis a few degrees before the limits?
EDIT: I do not want the robot to stop, just for clarification.
Thanks!