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

[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]

Hello Jian,

maybe have a read this article explaining force controlled manipulators in CoppeliaSim

Cheers