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Compliance to enable kinesthetic teaching #630

Answered by pattacini
paliasgh asked this question in Q&A
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Hi @paliasgh

Regarding the following lines you posted above

iimp->setImpedance(j,0.2,0.02);
imod->setControlMode(j, VOCAB_CM_TORQUE);  //maybe not needed?
iint->setInteractionMode(j,VOCAB_IM_COMPLIANT);

Please, consider the table I provided a long time ago, which states that the interaction mode doesn't go along with the torque control mode. Thus, either you enable the torque control mode or the position control mode; for the latter, you have two interaction modes available: stiff and compliant.

If you want to perform kinesthetic teaching, you should enable the torque control mode.

It does give the feeling when moving robot's arm same as running the demoForceImitation itself, but moving …

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