Add PD controller for joint-space impedance #400
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UniversalRobots#336) …oller in task space The pd controller in joint space will accept joint targets and compute joint torques based on PD control scheme. The pd controller in task space will accept task space targets and use inverse kinematics to compute joint targets which are then used to compute joint torques based on PD control scheme. --------- Co-authored-by: Felix Exner <[email protected]>
…niversalRobots#342) Co-authored-by: Felix Exner <[email protected]>
…versalRobots#348) This way all non-torque-control-related things should work on software versions not supporting torque control
Codecov Report❌ Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## master #400 +/- ##
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- Coverage 42.83% 42.17% -0.67%
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Files 99 100 +1
Lines 8626 8740 +114
Branches 1170 1181 +11
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- Hits 3695 3686 -9
- Misses 4652 4776 +124
+ Partials 279 278 -1
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Adds a joint space impedance controller to the driver.