Control APIs

Admittance Control Law

The admittance control law is defined in the c++\include\control\admittance_control.h header file. It computes the joint angles for the next time step based on the current end-effector pose, the desired pose, external forces, and the stiffness and damping parameters.

Note

• The stiffness and damping parameters should be tuned according to the specific application scenario.
• This function should be called within the robot control loop. Given the current end-effector pose, translational stiffness, and rotational stiffness as inputs, it outputs the joint positions for the next time step.

• Method:

  AbcErrorCode addmittance_control_law(
      std::unique_ptr<alphabot::ArmKinematics> arm,
      const AbcPose pose,
      const AbcType p_stiffness,
      const AbcType r_stiffness,
      const std::array<AbcType, 6> force,
      const AbcType t,
      const std::vector<AbcType> q,
      std::vector<AbcType> next_q)

• Parameters:

  Parameter	Type	Description
  arm	Input	A unique pointer to an ArmKinematics instance.
  pose	Input	Current end-effector pose.
  p_stiffness	Input	Translational stiffness.
  r_stiffness	Input	Rotational stiffness.
  force	Input	Six-dimensional spatial force applied at the end-effector, ordered as [Mx, My, Mz, Fx, Fy, Fz].
  t	Input	Integration time, which must be less than or equal to the duration of one control loop.
  q	Input	Current joint angles.
  next_q	Output	Joint angles at the next time step.

• Return Value:

  AbcErrorCode::SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.