Hello guys !
I would like some help about the following subject : Null space compliance.
Recently i saw a video and would like to mimic the motion realized inside it during experience n°1 :
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So far, i created a compliant mode and used it with an asynchronous motion :
Code
CartesianImpedanceControleMode impMode2 = new CartesianImpedanceControleMode ();
impMode2.Parametrize(CartDOF.X, CartDOF.Y, CartDOF.Z).setStifness(100);
impMode2.Parametrize(CartDOF.ROT).setStifness(40);
impMode2.setNullSpaceStifness(0);
IMotionContainer positioHoldContainer = TCP.moveAsynch(positionHold(impMode2, -1, TimeUnit.SECONDS));
My problem is that my endPoint doesn't keep the position/orientation of the desired frame.
I tried to add another motion, who take this frame as entry and to realize a motion to this frame without success :
Code
Frame posInit = lbr_iiwa.getCurrentCartesianPosition(TCP);
CartesianImpedanceControleMode impMode2 = new CartesianImpedanceControleMode ();
impMode2.Parametrize(CartDOF.X, CartDOF.Y, CartDOF.Z).setStifness(100);
impMode2.Parametrize(CartDOF.ROT).setStifness(40);
impMode2.setNullSpaceStifness(0);
IMotionContainer positioHoldContainer = TCP.moveAsynch(positionHold(impMode2, -1, TimeUnit.SECONDS));
TCP.move(ptp(posInit));
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Another try was with an infinite loop just after the moveAsynch where each loop realize the motion to posInit Frame.
Does anyone already tried to do something like that with an LBR IIWA ?
Thanks in advance,
Best regards,
OlivierRMD,