This module implements a simple torque control balancing strategy. The robot is assumed to have its base_link fixed on a pole. Input torques are the gravity toruqes which allow to perform gravity compensation. Optionally, it is also possible to move each controlled joint in order to track a desired joints trajectory.
The folder contains the Simulink model jointsControl.mdl, which is generated by using Matlab R2017b.
Currently, supported robots are: iCubGenova04, iCunGenova02, icubGazeboSim, iCubGazeboV2_5.
At start, the module calls the initialization file initJointsControl.m. Once opened, this file contains some configuration variables. Please follow the instruction inside the script to properly configure your simulation.
The gains and references for a specific robot (specified by the variable YARP_ROBOT_NAME) or a specific demo can be found in the folder app/robots/YARP_ROBOT_NAME.