FrederikEbert Posted May 15, 2017 Share Posted May 15, 2017 Has anybody implemented a cartesian space impedance controller for Sawyer? Ideallly I would like to have a controller module which accepts desired transforms to a desired cartesian endeffector position and "attaches" a virtual spring-damper system between the endeffector and that specified cartesian position. In addition to that one would need a way to specify the nullspace configuration. Thank you. Link to comment Share on other sites More sharing options...
This topic is now archived and is closed to further replies.