ROSCon 2019 Macau: cartesian_controllers: Motion, Force and Compliance Control for Robotic Manipulators
Stefan Scherzinger, Arne Rönnau (FZI Research Center for Information Technology)
This package provides a set of Cartesian motion- force- and compliance controllers for the ROS-control framework. The controllers are meant for joint_position and joint_velocity interfaces on the manipulators. As a unique selling point, they use fast forward dynamics simulations of virtually conditioned twins of the real setup as a solver for the inverse kinematics problem. They are designed to trade smooth and stable behavior for accuracy where appropriate, and behave physically plausible for targets outside the robots reach. The package is for users who require interfaces to direct task space control without the need for collision checking.
Video presented at ROSCon 2019. More details and slides are available at: roscon.ros.org/2019/.