How to impose force on the end-effect (TCP)?

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jianye
Posts: 46
Joined: 16 Oct 2019, 13:58

How to impose force on the end-effect (TCP)?

Post by jianye »

Hello guys,

i'm now working on a kuka iiwa robot in CoppeliaSim.

I want to know how can I impose a force on the end-effector(TCP)of the robot from outside? Is there any function that I can use?
If you have any demo that can achieve force imposing, it would be great.


Bests,

Jian

coppelia
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Posts: 8387
Joined: 14 Dec 2012, 00:25

Re: How to impose force on the end-effect (TCP)?

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sumi_boss
Posts: 33
Joined: 21 Sep 2020, 11:44

Re: How to impose force on the end-effect (TCP)?

Post by sumi_boss »

Hello

I'm working on a similar task, so I thought I'd reply here too. The tutorial you posted is for force-controlled manipulators, but it focuses on joint force control. Is there anywhere we could find something out about end effector (TCP) force control in Coppelia?

Cheers

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