使用

1. 静止导纳实验

• 仿真测试

  #打开rviz
  roslaunch ur_examples control.launch  type:=admittance_Control  is_remoted_control:=false

  #tcp末端施加[10,20,30,10,10,10]N的力
  rostopic pub /force_torque_control std_msgs/Int64MultiArray "layout:
    dim:
    - label: ''
      size: 0
      stride: 0
    data_offset: 0
  data: [10,20,30,10,10,10]"

• 实物测试

  roslaunch ur_examples control.launch  type:=admittance_Control  is_remoted_control:=true

---

2. 运动导纳实验

2.1 直线-力位混合

• 仿真

  #打开rviz
  roslaunch ur_examples control.launch  type:=moveL_admittance_Control  is_remoted_control:=false

  #TCP末端施加力
  rostopic pub /force_torque_control std_msgs/Int64MultiArray "layout:
    dim:
    - label: ''
      size: 0
      stride: 0
    data_offset: 0
  data: [0,20,30,10,10,10]"

• 实物测试

  roslaunch ur_examples control.launch  type:=moveL_admittance_Control  is_remoted_control:=true