Dear all,
I'm controlling the IIWA using sunrise and ROS, but now I want realize the impedance control of the robot. This controller need the robot state in real time which I know the FRI can get, but it also need send the real time commend of joint torque to the robot, which I can't found in the document "KUKA Sunrise.Connectivity FRI ". Can anybody give me some answer and advice about how to realize the impedance control?
thank a lot!
W.R.