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Summary: Compliant control components
Product: OCL
Version: trunk
Platform: All
OS/Version: All
Status: NEW
Severity: project
Priority: P2
Component: Other
AssignedTo: orocos-dev [..] ...
ReportedBy: ruben [dot] smits [..] ...
CC: orocos-dev [..] ...
Estimated Hours: 0.0

Created an attachment (id=236)
--> (https://www.fmtc.be/bugzilla/orocos/attachment.cgi?id=236)
the CompliantController component

Hi,

I developed a component which can be used for hybrid velocity/force control, or
compliant control according to "De Schutter J. and H. Van Brussel, Compliant
robot motion I, A formalism for specifying compliant motion tasks. The
International Journal of Robotics Research 7(4), 3-17"

The component is tested in gnulinux for simulation and in lxrt on a real robot
for a force-controlled insertion task.

Ruben