Hello. I have a question related to adding a constant torque for a rotational degree of freedom (A)under impedance control
Kuka iiwa is under impedance control in smart servo mode.
I have set impedance parameters (Stiffness and damping ratio). I have been searching for finding a command for setting a constant torque in a cartesian impedance control mode. I came across The setAdditionalControlForce() and setBias() .
I have tried The setAdditionalControlForce() but the path did not change in comparison with whenever I removed that command and Kuka worked without that additional torque.
Do you have any idea about how I can add 1Nm in a rotational degree of freedom? (path is clockwise and the resisting torque is opposite)
I have attached the part of the document related to this issue
thanks for reading this problem.