Hello everyone,
I'm reaching out to seek assistance with a challenge I'm facing on a KUKA iiwa 7 R800 robot. My objective is to implement direct force control or admittance control directly within Sunrise Workbench. For various reasons, I've decided not to use FRI and ROS for external control.
Here's the current status of the project: I have successfully established communication via socket to acquire data from a force sensor. The robot is executing an asynchronous movement along a scanning path. However, due to the non-planar nature of the scanned object, the spring force varies across the path. Additionally, I need to adapt the end-effector's orientation.
My initial approach was to use the method CartesianImpedenceControl.parametrize(CartDOF.Z).setAdditionalControlForce(Fz) within a loop after the moveAsync command. However, it appears that this approach only works before the robot initiates any movement. From what I understand, while the robot is in motion, I cannot change the trajectory or control forces.
I'm currently exploring alternative solutions, and my next step is to attempt small, incremental linear movements for each control step and adapt the target frame in real-time.
Any insights or suggestions on how to achieve impedance control during asynchronous robot motion would be greatly appreciated.
Thank you for your assistance.