Dear all,
i have a LWR 4+ robot and i want to control in Joints torque with FRI.
i set "Joint impedance control" control mode with:
Robot->SetCommandedJointTorques (Mytorque);
and i not use :
Robot->SetCommandedJointStiffness (CommandedStiffness );
Robot->SetCommandedJointDamping (CommandedDamping );
Robot->SetCommandedJointPositions (JointValuesInRad);
because these terms are already included in my torque, since my control law expects it.
Unfortunately, it seems the desidered torques are not correctly applied (robot behavior is unexpected)
Furthermore the terms (GetMeasuredJointTorques - GeCurrentGravityVector) are different from desidered Torques.
Is it normal? has FRI problem with torques tracking?
Please can someone help me?
Best Reguard.
Ing. Fabio Vigoriti