switch to Impedence control mode using FRI about grl

[ahundt]

Sorry for the delay, I didn't see this message until now. So are you saying you've been able to move the robot with the grl FRI code, or are you utilizing your own?

yes it is possible to do that, but I don't believe we have that implemented. We preferred to directly control the joints entirely from FRI.

[gpldecha]

@ahundt I have just started to work with the IIWA. I am interested in knowing if it is possible to change the stiffness parameters (JointImpedence Control mode) when using FRI and joint overlay. This your current package achieve this? If not would you have any suggestions on how to achieve this behaviour?

Thanks a lot for any advice,

Guillaume

[ahundt]

It isn't supported yet in my package, and if I recall correctly, as of the version we use (1.11 I think) joint impedance control is only possible in FRI if you implement it yourself. This may have changed with later versions. Enabling/Disabling FRI does work well in my API.

Also for 99% of applications smartservo/directservo is likely sufficient. We have an API for controlling the robot in that way from a PC in C++. If I recall correctly latency is ~100ms, which should also be sufficient for most applications, though it wouldn't work for some very specialized use cases.

[jacknlliu]

@ahundt Is it possible that using the smartservo interface to switch the control mode while the FRI session motion is running?

[ahundt]

I do change between several modes while it is running, but you might have to test those specific modes and add a few lines to the C++ and Java code to support the new modes.

On Sun, Aug 25, 2019 at 8:25 PM Jack Liu ***@***.***> wrote: @ahundt <https://github.com/ahundt> Is it possible that using the smartservo interface to switch the control mode while the FRI session motion is running? — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#172?email_source=notifications&email_token=AAANTQHCT372S4FDYQGVPUTQGMWIFA5CNFSM4FJOF4M2YY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOD5DARWQ#issuecomment-524683482>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AAANTQGBWZRP5FKJYZ4KTPTQGMWIFANCNFSM4FJOF4MQ> .

-- Cheers! Andrew Hundt