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.
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.