Hybrid Position and Force Controller (unfinished)

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#Demo 9 - Hybrid Position and Force Controller (unfinished)

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#####Navigation

1. Summary
2. Video
3. Quickstart
4. Structure
5. FAQ

###Summary

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This work is divided into 3 steps.
#####Step 1 : design a torque controller to control the velocity in joint space
######step 1.1: control a joint at one time (the work where we are)
First we trun off the gravity compensations. And we get the informations(actual velocities) we want from the topic /robot/limb/right/gravity_compensation_torques, and then use the PID algrithm to control it(S0 joint).
Phenominon:
The joint can move in desired speed but vibrate. This is because the actual velocity is not so accurate. So we may need to have a filter.
######step 1.2: control seven joints at one time
#####Step 2 : design a torque controller to control the position in Cartesian space
#####Step 3 : combine a torque controller to control the force in Cartesian space

#####Files Location:

• ./demos/demos_sysu_baxter/src/HPFC
  
  
  

###Video

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Wait

###Quickstart

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Beofore you run this node, please make sure your computer have been connected to the baxter.

$ ./mpid4

###Structure

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###FAQ

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