Summary

This package implements force control functions including Admittance Control, Force Tracking and Hybrid Force/Impedance Control. Based on kdl_parser and orocos_kdl, it can be used out of box for any robot with wrist-mounted F/T sensor and robot's URDF file, merely with simple work of defining the names of some essential topics and link frames in the launch file.

Here is the reference manual about the provided topics and services.

A usage demo of this package can be found at here.

Installation

Two ways to install the package.

Install on fc_intall_ws

make folder on ~/ (or directory you want)

$ cd ~
$ mkdir fc_install_ws

clone git repository

$ cd ~/fc_install_ws 
$ git clone <https://github.com/*.git>

source the setup.bash in install folder and add it into ~/.bashrc

$ source ~/fc_install_ws/install/setup.bash
$ echo 'source ~/fc_install_ws/install/setup.bash' >> ~/.bashrc

Intall on /opt/ros/melodic

install by .deb package

$ sudo dpkg -i ros-melodic-force-control_0.0.0-0bionic_amd64.deb
$ roscd force_control

Usage

• Firstly, you should have a robot with Cartesian velocity command interface for ROS and a 6-D F/T sensor mounted on end-effector.
• Sencondly, you need to prepare a URDF file of the robot, and load it through the launch file here.
• Then, modify the names of topics and frames in force_control.launch according to the used robot.
• Lastly, after adjusting the parameters in config/fc_params.yaml, launch the force_control.launch