Dynamical system based compliant contact controller

Catkin package implementing DS based contact controller which was proposed in

Mirrazavi Salehian, S. S. and Billard, A. (2018) A Dynamical System Based Approach for Controlling Robotic Manipulators During Non-contact/Contact Transitions. IEEE Robotics and Automation Letters (RA-L).

You can find a use case study of this here: https://www.youtube.com/embed/fhfBBMH4XVg

Dependences

• Eigen http://eigen.tuxfamily.org/index.php?title=Main_Page

Features:

• Controlling for contact and impact.
  • Making sure that the contact is going to be stable and the robot does not bounce on the surface.
• Leaving the surface or staying on the it at desired points.

Documentation

You can get some basic source code documentation by running doxygen.

sudo apt-get install doxygen
roscd CoDs_SDK
doxygen Doxyfile

How to run

Initialization:

1- Initialize the modulation function:

void initialize(int Dimen_state,double delta_dx,double F_d,double Gammma_free_motion, bool define_desired_contact_point, bool define_desired_leaving_point);

In the loop:

1- Set the state of the gamma function, which conveys the notion of distance between the robot's end-effector and the contact surface

void Set_Gamma(double Gamma,VectorXd Normal,VectorXd q2,VectorXd q3,VectorXd Point_on_surface);

2- Set the state of the robot

  void Set_State(VectorXd State,VectorXd DState,VectorXd DState_real,VectorXd Original_Dynamic);

3- Set the location of the desired contact point

  void Set_Contact_point(VectorXd Contact_point);

4- Set the location of the desired leaving point and the location of the target in space!

  VectorXd Set_Leaving_point(VectorXd Leaving_point,VectorXd X_Target);

5- Calculate the modulation function

MatrixXd Calculate_Modulation();

6- Calculate the modulation function

MatrixXd Calculate_Modulation();

Note 1: Most of the variables are accessible by get_ functions see CoDs_SDK.h

Contact information

For more information contact Sina Mirrazavi.