[Discourse.ros.org] Joint Torque Control for Universal Robot

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[Discourse.ros.org] Joint Torque Control for Universal Robot

Jonathan Binney via ros-users


Hi All.

I'm wondering is there anybody who has tried to do a joint torque control (i.e. effort_controllers of the ros_control package) for the Universal Robot? I believe I could implement the controller for the robot's model in Gazebo. However, I'm not sure how to combine the real robot with the ros_control package. I tried to find the solution online, however, most of the sources deal only with the trajectory controller via MoveIt.

Any help will be much appreciated.

Best regards,
Ataka





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[Discourse.ros.org] Joint Torque Control for Universal Robot

Jonathan Binney via ros-users


Could you please ask this sort of question over at [ROS Answers](http://answers.ros.org) as is explained in the [support guidelines](http://wiki.ros.org/Support)? If you repost there, I'll answer it.





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