Torque/force control of the Sawyer robot and control of the end-effector with a keyboard
Posted: 03 May 2019, 11:29
Dear all,
I am very new to Vrep and I have been using it for less than two weeks. I am working with the sawyer robot and am aiming to achieve the following:
1) implement realistic force torque control of the robot. I have already set all joints to the "torque/force mode", checked "motor enabled" and unchecked "control loop enabled" as the first step. I have also implemented some functions in python that enable me to set the torque/force on each joint by setting a very high target velocity and limiting the maximum torque which can be applied to each joint. My question is: in a real robot I would assume there is gravity compensation from internal frictions and other complicated mechanisms, meaning that when the torque on a joint is 0, then if the joint is moving the angular velocity should begin to decrease and if it was stationary it should remain stationary. However, in the simulator, when I set the torque to 0 the robot begins to accelerate downwards due to gravity and finally collapses on itself. How could I implement gravity compensation such that controlling the robot is more like controlling a real robot?
2) I would like to control the end-effector of the robot via a keyboard. Is this possible to achieve? If yes, how should I go about implementing this?
Thank you for any help!
I am very new to Vrep and I have been using it for less than two weeks. I am working with the sawyer robot and am aiming to achieve the following:
1) implement realistic force torque control of the robot. I have already set all joints to the "torque/force mode", checked "motor enabled" and unchecked "control loop enabled" as the first step. I have also implemented some functions in python that enable me to set the torque/force on each joint by setting a very high target velocity and limiting the maximum torque which can be applied to each joint. My question is: in a real robot I would assume there is gravity compensation from internal frictions and other complicated mechanisms, meaning that when the torque on a joint is 0, then if the joint is moving the angular velocity should begin to decrease and if it was stationary it should remain stationary. However, in the simulator, when I set the torque to 0 the robot begins to accelerate downwards due to gravity and finally collapses on itself. How could I implement gravity compensation such that controlling the robot is more like controlling a real robot?
2) I would like to control the end-effector of the robot via a keyboard. Is this possible to achieve? If yes, how should I go about implementing this?
Thank you for any help!