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I am wondering if there is any way to control the arm under the admittance mode on Gen3.
I tried to send the cartesian/twist/wrench commands to Gen3 under the cartesian admittance mode. However, the arm automatically turns into the normal mode without compliance while executing the command.
Apologies for the very delayed response. I am in the process of trying to catch up with all of our open issues in our repos and should be more responsive moving forward.
Unfortunately, Admittance mode only allows hand-guiding as an input. Sending any other command will indeed revert the robot to the normal mode.
One workaround to obtaining a similar behaviour is to implement your own control loop for admittance/impedance and control the robot using Twist commands. You still won't be able to send regular actions, but with this loop you will be able to also implement hybrid force/position control.
I will close this issue since the specific answer to the original question can't be solved directly with Kortex API / the content of this repo, but if you wish to discuss the workaround further, please contact us at support@kinova.ca.
Hi Kinova team,
I am wondering if there is any way to control the arm under the admittance mode on Gen3.
I tried to send the cartesian/twist/wrench commands to Gen3 under the cartesian admittance mode. However, the arm automatically turns into the normal mode without compliance while executing the command.
This is what I have done.
Thanks for the help in advance!
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