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21 lines
897 B
Markdown
21 lines
897 B
Markdown
### Force control
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In a nutshell, you have different control modes:
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* motion control: specify the desired task (or joint) positions / velocities
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* force control: specify the desired task (or joint) forces
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* indirect force control:
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* impedance control
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* admittance control
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* direct force control:
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* hybrid force/position control
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* parallel force/position control
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Here are the few examples that you can find in this folder:
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1. `no_forces.py`: this example loads a RRBot robot and disable the motors. It does not apply any joint torques.
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2. `gravity_compensation.py`: compute the necessary joint torques to compensate for gravity.
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3. `attractor_point.py`: compute the necessary joint torques (using impedance control) such that the end-effector
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is attracted by a 3D Cartesian point.
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For these 3 above examples, try to move the robot's end effector with your mouse and see what happens.
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