Impedance Controller for Assembly Project

Overview

This repository provides the implementation of an Impedance Controller designed for robotic systems to regulate interaction forces between the robot and its environment. The controller ensures stable and compliant behavior by modulating forces and positions based on a dynamic impedance model. Therefore, we use this controller to make the inserting action being stable and reliable.

Use

First, you need to load the ros controller

roslaunch ee_cart_imped_launch load_ee_cart_imped.launch

Then you can actually run the controller.

roslaunch ee_cart_imped_launch ee_cart_imped.launch

For more details about the api, please check ee_cart_imped_msgs.