This code scales the 1DoF Admittance control code to 3DoF to control a motorized arm support being devloped in the lab. The intension of the arm support is for home based stroke therapy.
Code comprised of 4 classes:
- Admittance Model
- Force acting on mass at the end effector.
- Force Sensor
- 1kHz tri-axis force sensor at the end effector.
- Robot Control
- iKine, fKine, and motor communication.
- Serial Communication
- Outgoing packet protocol for data logging.
- Incoming packet protocol for mass/damping modification and outgoing packet configuration.
Code by Erick Nunez Supervised by Sergei Adamovich, PhD