Sid Posted October 12, 2018 Share Posted October 12, 2018 Hi, Is it possible to expose the implementation of the JTAS server that runs on the controller machine? I was a bit confused about how it handles trajectory messages. Some of the questions were: 1. What is the difference between the trajectory mode defined under the section JOINT_CONTROL_MODE: http://sdk.rethinkrobotics.com/intera/Arm_Control_Systems, and the "Inverse Dynamics Feed Forward Position Mode (position_wid)" defined in the JTAS section. 2. Does the JTAS internally use a physical model of the robot to compute joint torques? 3. What JOINT_CONTROL_MODES (position, velocity, trajectory, effort) are used for each of the JTAS modes (position velocity position_w_id)? Any pointers would be helpful. Thanks, Sid Quote Link to comment Share on other sites More sharing options...
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