sdasari Posted June 18, 2018 Share Posted June 18, 2018 We're trying to use the new intera 5.2 software to do endpoint impedance control on the Sawyer robot. The primary goal is to enable unsupervised data collection for machine learning research using the Sawyer arm, which naturally requires reasonably precise yet "soft" control (rather not apply too much force to avoid breaking objects). I've seen the interaction control tutorial and tried some of the example scripts. The demo scripts has two problems that I'm not sure how to get past: Only works wells when waypoints are far apart. Controller seems somewhat unstable when the waypoints are super close together. Has super stiff control to get to a target location and then switches to a softer controller. We'd rather have the smooth controller engaged throughout the entire trajectory, in order to get a safe/smooth motion from start to target position. We've actually been using a modified version of the joint_torque_springs tutorial from earlier intera versions. Is there a better (e.g more precise/safer/easier) way to do this with the new interaction interface? Quote Link to comment Share on other sites More sharing options...
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