24.07.22 dVRK Meeting

[Woolfrey]

Joint Torque Control

• Full inverse dynamics $\boldsymbol{\tau} = \mathbf{M(q)\ddot{q} + C(q,\dot{q})\dot{q} + g(q)}$
• Trajectory generation with cubic splines $\mathbf{q}(\mathrm{t}) = \mathbf{c}_0 + \mathbf{c}_1\Delta t + \mathbf{c}_2\Delta t^2 + \mathbf{c}_3\Delta t^3$
• PD feedback control

Looks stable 👍

sawyer_joint_torque_control.mp4

ROS2 Action Server

Basic joint control action running:

Screencast.from.21-07-24.16-24-12.mp4

Simple error handling:

Other Updates

• Anu is working on testing the code over in Warwick:

• Spoke with Adam: ROS2 expected to be working with Kuka iiwa here in Leeds mid-to-late August.