Skip to content

This PR adds an example of force/torque actuation/readings using a KUKA LBR4 #8

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 13 commits into
base: master
Choose a base branch
from
Open

This PR adds an example of force/torque actuation/readings using a KUKA LBR4 #8

Changes from 1 commit
Commits
Show all changes
13 commits
Select commit Hold shift + click to select a range
9c24705
Added the example panda_kinematic_control, which uses the DQ_Pseudoin…
ffasilva May 15, 2023
4289515
Merge branch 'master' of https://github.com/ffasilva/matlab-examples
ffasilva May 15, 2023
23c1db6
Added the missing license header to the file 'panda_kinematic_control'.
ffasilva May 28, 2023
fdfdcf7
Merge branch 'dqrobotics:master' into master
ffasilva Jun 28, 2023
f7d41c3
Added example 'vrep/panda-torque-control'.
ffasilva Jul 10, 2023
9af4381
Replaced Panda torque control example by KUKA LBR4 control example.
ffasilva Jul 25, 2023
a50de7e
[lbr4_torque_control.m] Removed the use of 'LBR4VrepRobot' class and …
ffasilva Aug 15, 2024
99d043c
Merge branch 'dqrobotics:master' into dq-vrepinterface-get-force-sens…
ffasilva Aug 15, 2024
15691b1
[lbr4_torque_control.m] Updated comments and minor code clean-up.
ffasilva Aug 15, 2024
48ba7e1
Merge branch 'dq-vrepinterface-get-force-sensor-readings' of https://…
ffasilva Aug 15, 2024
6efb2dd
[lbr4_torque_control.m] Updated comments.
ffasilva Aug 15, 2024
3ead834
[lbr4_torque_control.m] Added copyright.
ffasilva Aug 15, 2024
d1dda28
[lbr4_torque_control.m] Updated comments.
ffasilva Aug 15, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 7 additions & 3 deletions vrep/lbr4-torque-control/lbr4_torque_control.m
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,11 @@
vi.wait_for_simulation_step_to_end();

% Define robot interface
robot_vrep = LBR4pVrepRobot('LBR4p', vi);
robot_name = 'LBR4p';
for i=1:7
current_joint_name = {robot_name,'_joint',int2str(i)};
joint_names{i} = strjoin(current_joint_name,''); %#ok
end

%% Definition of the actuation torque
tau = [-0.005; -25; 0; -30; -0.007; 0; 0];
Expand All @@ -44,7 +48,7 @@
%% Main control loop for the first desired pose
while(iteration <= max_iteration)
% Robot actuation in V-REP
robot_vrep.send_tau_to_vrep(tau);
vi.set_joint_torques(joint_names, tau);
vi.trigger_next_simulation_step();
vi.wait_for_simulation_step_to_end();

Expand All @@ -53,7 +57,7 @@
disp(' ')

% Read joint torques from V-REP
tau_read = robot_vrep.get_tau_from_vrep;
tau_read = vi.get_joint_torques(joint_names);

formatSpec = 'Joint torque read from V-REP: %f\n';
fprintf(formatSpec,tau_read);
Expand Down