#include <armarx/control/common/control_law/TaskspaceAdmittanceController.h>

Classes
struct	Config
	you can set the following values from outside of the rt controller via Ice interfaces More...

struct	NonRtStatus

struct	RtStatus
	internal status of the controller, containing intermediate variables, mutable targets More...

Public Member Functions
void	firstRun ()

void	initialize (const VirtualRobot::RobotNodeSetPtr &rns)

void	preactivateInit (const VirtualRobot::RobotNodeSetPtr &rns)

void	run (const Config &cfg, ControlTarget &targets, double deltaT)

bool	updateControlStatus (const Config &cfg, const RobotStatus &robotStatus)

void	updateFT (const common::ft::FTSensor::FTConfig &c, double deltaT)

Public Attributes
TripleBuffer< NonRtStatus >	bufferNonRtToOnPublish

TripleBuffer< NonRtStatus >	bufferNonRtToRt

TripleBuffer< RtStatus >	bufferRtToOnPublish

common::ft::FTSensor	ftsensor

std::atomic< bool >	isInitialized {false}

VirtualRobot::RobotNodePtr	tcp

Detailed Description

Definition at line 39 of file TaskspaceAdmittanceController.h.

Member Function Documentation

◆ firstRun()

void firstRun ( )

Definition at line 164 of file TaskspaceAdmittanceController.cpp.

Here is the call graph for this function:

◆ initialize()

void initialize ( const VirtualRobot::RobotNodeSetPtr & rns )

Definition at line 21 of file TaskspaceAdmittanceController.cpp.

Here is the call graph for this function:

◆ preactivateInit()

void preactivateInit ( const VirtualRobot::RobotNodeSetPtr & rns )

Definition at line 123 of file TaskspaceAdmittanceController.cpp.

Here is the call graph for this function:

◆ run()

void run	(	const Config &	cfg,
		ControlTarget &	targets,
		double	deltaT
	)

run in rt thread

only when the ft sensor is calibrated can we allow the admittance controller to have virtual pose modulation out of force/torque information.

-------------------------— admittance control ------------------------------------------— calculate pose error between the virtual pose and the target pose

admittance control law and Euler Integration -> virtual pose

--------------------------— Impedance control ------------------------------------------— calculate pose error between target pose and current pose !!! This is very important: you have to keep postion and orientation both with UI unit (meter, radian) to calculate impedance force.

--------------------------— Nullspace PD Control -----------------------------------------------—

--------------------------— Map TS target force to JS -----------------------------------------------—

--------------------------— write torque target -----------------------------------------------—

Definition at line 260 of file TaskspaceAdmittanceController.cpp.

Here is the call graph for this function:

◆ updateControlStatus()

bool updateControlStatus	(	const Config &	cfg,
		const RobotStatus &	robotStatus
	)

check size and value

--------------------------— get current status of robot ------------------------------------------— original data in ArmarX use the following units: position in mm, joint angles and orientation in radian, velocity in mm/s and radian/s, etc. here we convert mm to m, if you use MP from outside, make sure to convert it back to mm

Definition at line 184 of file TaskspaceAdmittanceController.cpp.

Here is the call graph for this function: