Inverse Jacobian for Sawyer- Commanding joint velocities


Rachel Hoffman
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Hello,

 

I am trying to implement a basic Admittance controller on the Sawyer. I have a force sensor attached to the end-effector and I want to command the joint velocities to move the end-effector in a desired direction, depending on the forces acting on the force sensor.

Do you (or does anyone) have any advice for how to go about this? One common method is to use the inverse Jacobian to relate the end effector velocity to the joint velocities, but I'm struggling to calculate it without getting bogged down in math. 

I'm not currently using trajectory planning. Can moveit be "Called" to output the inverse Jacobian that I can then use in my controller? 

Any advice is greatly appreciated!

 

-Rachel Hoffman

 

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