Cartesian Impedance Controller ROSCon 2022 Lightning Talk
Channel: Robotics Lund University
Date: 2022-12-07

Our lightning talk at ROSCon 2022 about our Cartesian impedance control implementation.

It is a feature-rich C++ implementation that can be used with ROS or as a C++ library.
The features include:
- Changing the reference pose at runtime
- Configuring stiffness values along all Cartesian dimensions at runtime
- Configuring damping factors along all Cartesian dimensions at runtime
- Applying Cartesian forces and torques at runtime
- Handling of joint trajectories with nullspace configurations, e.g. from MoveIt
- Jerk limitation
- Interface to ROS messages and dynamic_reconfigure for easy runtime configuration
- Robot-agnostic implementation

We tested it and use it with KUKA iiwas as well as the Franka Emika Robot (Panda) both in simulation and on the real system.

*Code:* https://github.com/matthias-mayr/Cartesian-Impedance-Controller
*ROSCon:* https://roscon.ros.org/2022/
Full lightning talk session: https://vimeo.com/showcase/9954564/video/767167701

The video author of the full video is Open Robotics (http://www.openrobotics.org).