Direct joint torque/force control
Posted: 16 Jul 2018, 12:58
Hello,
Would it be possible have direct control over the torque/force at the joint?
I know it's possible to do so by enabling the motor at the joint and playing with desired velocity and max torque.
But it is a bit convoluted for something that basic...
When the joint is in torque/force mode but the motor is not enable, it should be possible to set a torque different from zero via a single API function call.
Thanks in advance,
Tom
Would it be possible have direct control over the torque/force at the joint?
I know it's possible to do so by enabling the motor at the joint and playing with desired velocity and max torque.
But it is a bit convoluted for something that basic...
When the joint is in torque/force mode but the motor is not enable, it should be possible to set a torque different from zero via a single API function call.
Thanks in advance,
Tom