pyrobolearn/examples/dynamics/control/README.md

Force control

In a nutshell, you have different control modes:

• motion control: specify the desired task (or joint) positions / velocities
• force control: specify the desired task (or joint) forces
  • indirect force control:
    • impedance control
    • admittance control
  • direct force control:
    • hybrid force/position control
    • parallel force/position control

Here are the few examples that you can find in this folder:

1. no_forces.py: this example loads a RRBot robot and disable the motors. It does not apply any joint torques.
2. gravity_compensation.py: compute the necessary joint torques to compensate for gravity.
3. attractor_point.py: compute the necessary joint torques (using impedance control) such that the end-effector is attracted by a 3D Cartesian point.

For these 3 above examples, try to move the robot's end effector with your mouse and see what happens.