TaskspaceVelocityController Class Reference

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

Public Types
using	Config = common::control_law::arondto::TaskspaceVelocityControllerConfig
using	ConfigDict = common::control_law::arondto::TaskspaceVelocityControllerConfigDict
using	FTConfig = common::ft::arondto::FTConfig

Public Member Functions
void	firstRun ()
void	initialize (const VirtualRobot::RobotNodeSetPtr &rns, const VirtualRobot::RobotNodeSetPtr &rtRns)
void	preactivateInit (const VirtualRobot::RobotNodeSetPtr &rns)
void	run (Config &c, TSCtrlRtStatus &robotStatus)

Public Attributes
common::ft::FTSensor	ftsensor
VirtualRobot::RobotNodePtr	rtTCP
VirtualRobot::RobotNodePtr	tcp

Member Typedef Documentation

Config

using Config = common::control_law::arondto::TaskspaceVelocityControllerConfig

ConfigDict

using ConfigDict = common::control_law::arondto::TaskspaceVelocityControllerConfigDict

FTConfig

using FTConfig = common::ft::arondto::FTConfig

Member Function Documentation

firstRun()

void firstRun

(

)

initialize()

void initialize	(	const VirtualRobot::RobotNodeSetPtr &	rns,
		const VirtualRobot::RobotNodeSetPtr &	rtRns )

preactivateInit()

void preactivateInit

(

const VirtualRobot::RobotNodeSetPtr &

rns

)

run()

void run	(	Config &	c,
		TSCtrlRtStatus &	robotStatus )

run in rt thread

-------------------------— safety guard by FT and target pose ---------------------—

this should not be moved to non rt, just in case non rt thread dies, rt still functions as safely

---------------------------— compute jacobi ---------------------------------------—

---------------------------— update velocity/twist --------------------------------—

in mm/s

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

in mm

----------------------------------— Velocity control ------------------------------------------------— calculate pose error between target pose and current pose !!! This is very important: you have to keep position and orientation both with UI unit (meter, radian) to calculate desired Cartesian velocity.

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

--------------------------— Map TS target velocity to JS -----------------------------------------------—

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

Member Data Documentation

ftsensor

common::ft::FTSensor ftsensor

rtTCP

VirtualRobot::RobotNodePtr rtTCP

tcp

VirtualRobot::RobotNodePtr tcp

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The documentation for this class was generated from the following files:

• armarx/control/common/control_law/TaskspaceVelocityController.h
• armarx/control/common/control_law/TaskspaceVelocityController.cpp