how to use REALLY Pure Postion mode with FRI?

  • Hi,

    I am trying to use iiwa7 do position trajectory following task.

    I had just finished all setup as mentioned in using FRI .

    the JAVA CODE in the robot side is

    Now, I can use moveit in Rivz to drag the robot and the real iiwa can follow the drag trajectory.

    The question is : the robot is not actually in Pure Postion Mode, even the stiffness is set to high value, and the robot was not accurate acchieve the goal which effected by the gravity.

    How can I just use pure postion mode to do position trajectory task?

  • Place your Ad here!
  • Hi longwoo,

    Maybe you can change the jointImpedanceControlMode to the PositionControlMode.


    JointImpedanceControlMode ctrMode = new JointImpedanceControlMode(stiffness, stiffness, stiffness, stiffness, stiffness, stiffness, stiffness);

Create an account or sign in to comment

You need to be a member in order to leave a comment

Create an account
Sign up for a new account in our community. It's easy!
Register a new account
Sign in
Already have an account? Sign in here.
Sign in Now

Advertising from our partners