Change paramters of impedance control at runtime

1

Hello,

I want to use the provided impedance control implementation but I will have to adjust the stiffness of it at runtime. Is this possible? Thank you.

2

Hi Michael,

It’s possible in theory, need to call set_impedance_mbk to modify it.
But we haven’t tried it yet, usually we pass a fixed value. You can try to modify parameter K, but it is not recommended to modify it too much at one time.

How do you want to modify it? We can do the test, if you have a script pleas share it with us thank you.

Best regards,
Minna

3

Hi Minna,

thank you for the fast reply!
I want to implement a simple adaption law, something like, k_t=k_0+alpha*e_t^2, where k_t is the adapted stiffness, k_0 the initial stiffness, e_t the current tracking error and alpha the adaption rate. I want to adjust the stiffness of the impedance control only within certain limits of k and with a relativ small adaption rate.

I would really appreciate if you could test this or something similar. Thank you for your help.

4

Hi Michael,

How do you want to control the movement of the arm under impedance mode? Which API and mode do you use?
How to get the tracking error? Do you calculate it yourself or do you want us to provide the API to get it directly? Please show more details of your application.

Best Regards,
Minna