mingshanhe/compliant-control-and-application

Compliant Control: 1) admittance control algorithm 2) impedance control algorithm 3) hybrid force&position algorithm in robotic arm (Universal Robot).

Hey 👋, I am Mingshan (Beal) He 😀.

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I am the Master Student in BioRobotics Laboratory in Seoul National University now. I have graduated from Faculty of Robot Science and Engineering, Northeastern University (China), at 2021. And I have a control engineer 👨‍💻 experience and a research assistant experience.

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🏫 Bachelor: Northeastern University (Robot Eng)

🌱 Master: Seoul National University (ME)

📫 Email:

🇨🇳 wechat ID: neu_hms

⚽ Team: 东北大学 浙江大学

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Languages and Frameworks

Tools and Environments

Interests and Contributions

• Soft Robot
• System Contribution(Mechanical and Electrical)
• Control Algorithm

       

compliant-control-and-application's Issues

An error occurred when I ran the statement”roslaunch ur_gazebo ur5e_bringup.launch transmission_hw_interface:=hardware_interface/PositionJointInterface specified_controller:=cartesian_velocity_controller“

I ran this statement under the catkin_ws. The error is as follows：

/cartesian_velocity_controller/ee_state

我想知道/cartesian_velocity_controller/ee_state 这个话题的具体代码在哪里看，我想把导纳控制移植到自己的机械臂上，但我不知道该怎么让/gazebo节点也发送/cartesian_velocity_controller/ee_state话题。

'cartesian_state_msgs/PoseTwist.h'

hello, the system has the following error after catkin_make. Can you tell me where can I find the 'cartesian_state_msgs/PoseTwist.h'? Thank you for your help.

In file included from /home/gaoxu/catkin_ws/src/Admittance-and-Application-simulation-devel/control_algorithm/hybrid_position_force_control/src/hybrid_position_force_control.cpp:8:0:
/home/gaoxu/catkin_ws/src/Admittance-and-Application-simulation-devel/control_algorithm/hybrid_position_force_control/include/hybrid_position_force_control/hybrid_position_force_control.h:14:44: fatal error: cartesian_state_msgs/PoseTwist.h: 没有那个文件或目录
compilation terminated.
Admittance-and-Application-simulation-devel/control_algorithm/hybrid_position_force_control/CMakeFiles/hybrid_position_force_control.dir/build.make:75: recipe for target 'Admittance-and-Application-simulation-devel/control_algorithm/hybrid_position_force_control/CMakeFiles/hybrid_position_force_control.dir/src/hybrid_position_force_control.cpp.o' failed
make[2]: *** [Admittance-and-Application-simulation-devel/control_algorithm/hybrid_position_force_control/CMakeFiles/hybrid_position_force_control.dir/src/hybrid_position_force_control.cpp.o] Error 1
CMakeFiles/Makefile2:3049: recipe for target 'Admittance-and-Application-simulation-devel/control_algorithm/hybrid_position_force_control/CMakeFiles/hybrid_position_force_control.dir/all' failed
make[1]: *** [Admittance-and-Application-simulation-devel/control_algorithm/hybrid_position_force_control/CMakeFiles/hybrid_position_force_control.dir/all] Error 2
Makefile:145: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j2 -l2" failed

代码移植

你好，感谢你上传的力控代码，我在移植代码时会认真地标明出处。

问题：
我尝试将你写的基于ur5e的导纳控制仿真移植到，自己搭建的7DOFs机械臂上，以下是我的模型：

我在移植 https://github.com/MingshanHe/Compliant-Control-and-Application/tree/noetic/robots/universal_robot/fmauch_universal_robot/ur_description/config/ur5e ，这个目录下的yaml文件时，遇到了困难，请问

• default_kinematics.yaml
• physical_parameters.yaml
  这两个文件内容，是如何获取的？

感谢

Problems connecting to a real robot

I tried incorporating the real-robot version into my own UR5e startup file.
But running have an error：
[ERROR] [1645000038.861793476]: Could not load controller 'cartesian_velocity_controller_sim' because controller type 'cartesian_controller/CartesianVelocityController' does not exist.
It doesn't seem to recognize your custom controller type, how can I do for this？

导纳问题请教

校友你好呀，你这些做的真好！
我有几个问题，就是UR5机器人控制频率只有125hz，采用末端六维力传感器时，这个对于做位置导纳控制有影响吗？我做位置导纳时，机械臂有时会抖动，做速度导纳时就还好，这机器人适合采用位置导纳吗？

About Wrench_Fake.launch file

Hello, I have a problem about the Wrench_Fake.launch file, when I started the launch file, it says this.

Is this because I need to add information to the launch file by my own?

Application (Hybrid Admittance Control)

r5ebase_link-base_link_inertia type: Fixed
[ERROR] [1702048263.515887367]: Exception thrown while initializing controller 'cartesian_velocity_controller'.
Could not find resource 'ur5ebase_link-base_link_inertia' in 'hardware_interface::PositionJointInterface'.
[ERROR] [1702048263.515921944]: Initializing controller 'cartesian_velocity_controller' failed
when I run roslaunch mir_gazebo mir_empty_world.launch

导纳问题请教

校友你好呀，你这些做的真好！
我有几个问题，就是UR5机器人控制频率只有125hz，采用末端六维力传感器时，这个对于做位置导纳控制有影响吗？我做位置导纳时，机械臂有时会抖动，做速度导纳时就还好，这机器人适合采用位置导纳吗？

Real UR5e robotic arm

Hello, which launch file do you use for the real robotic arm?

resource not found

hello, can you tell me where can I find the 'universal_robot_databag'? Thank you for your help.

力位混合控制看不到轮胎

你好，请问以下，为什么我在力位混合控制下，gazebo环境中看不到轮胎

rostopic: error: Argument error: mapping values are not allowed here in "<unicode string>", line 1, column 12: position: x: -0.10 y: 0.30 z: 0.30 orientat ... ^

dai@dai-virtual-machine:~/catkin_ws$ rostopic pub /desired_carteisan_pose_cmd geometry_msgs/Pose "position: x: -0.10 y: 0.30 z: 0.30 orientation: x: 0.707 y: -0.707 z: 0.0 w: 0.0"
Usage: rostopic pub /topic type [args...]

rostopic: error: Argument error: mapping values are not allowed here
in "", line 1, column 12:
position: x: -0.10 y: 0.30 z: 0.30 orientat ...
^
when i run "rostopic pub /desired_carteisan_pose_cmd geometry_msgs/Pose "position: x: -0.10 y: 0.30 z: 0.30 orientation: x: 0.707 y: -0.707 z: 0.0 w: 0.0" " command, i get the error.

what should i do,thanks!

Would it be possible to share your paper

Hi! Thank you for your wonderful work. I was wondering if you have any publications/thesis regarding this project? If you have time, would you mind sharing your papers? That would be helpful for the community to understand your algorithms and follow your work. Thank you so much!

urdf添加力传感器

您好，您在readme文件中说In this repository, I have used ur5e robot and its urdf file need to be changed in different situation, like need or not a force/torque sensor in the end effector. Please check the urdf file seriously and run the algorithm, Thanks.我尝试给机械臂添加力传感器，但都失败了，请问您有相关资料或者是有添加了力传感器的urdf文件吗？

力位混合控制

作者您好，力位混合控制这部分是取消了吗？似乎目前的代码实现不了动图里的效果。感谢！

compile error

ubuntu18.04 melodic
Robotic_Arm_Algorithms/universal_robot_control/cartesian_velocity_controller/include/cartesian_velocity_controller/kinematics_base.h:156:62: error: conversion from ‘urdf::LinkConstSharedPtr {aka std::shared_ptr}’ to non-scalar type ‘boost::shared_ptr’ requested
boost::shared_ptr link_ = model.getLink(tip_name);
~~~~~~~~~~~~~^~~~~~~~~~

在编译您的代码时中出现错误

/home/lwd/ur5_ws/src/Compliant-Control-and-Application-noetic/control_algorithms/impedance/include/impedance/Impedance.h:27:10: fatal error: joint_state_msg/Jointstate.h: 没有那个文件或目录
#include "joint_state_msg/Jointstate.h"
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
缺少Jointstate.h这个.h文件，我确认了一下，确实没有，请问如何解决呢

A problem was encountered while "catkin_make" in the workspace"catkin_ws"

In file included from /home/dayna/catkin_ws/src/Compliant-Control-and-Application-noetic/control_algorithms/admittance/src/HybridAdmittance/HybridAdmittance.cpp:1:
/home/dayna/catkin_ws/src/Compliant-Control-and-Application-noetic/control_algorithms/admittance/include/hybridadmittance/HybridAdmittance.h:6:10: fatal error: cartesian_state_msgs/PoseTwist.h: 没有那个文件或目录
6 | #include "cartesian_state_msgs/PoseTwist.h"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from /home/dayna/catkin_ws/src/Compliant-Control-and-Application-noetic/control_strategy/src/control_strategy/control_strategy.cpp:1:
/home/dayna/catkin_ws/src/Compliant-Control-and-Application-noetic/control_strategy/include/control_strategy/control_strategy.h:11:10: fatal error: cartesian_state_msgs/PoseTwist.h: 没有那个文件或目录
11 | #include "cartesian_state_msgs/PoseTwist.h"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [Compliant-Control-and-Application-noetic/control_algorithms/admittance/CMakeFiles/hybridadmittance.dir/build.make:63：Compliant-Control-and-Application-noetic/control_algorithms/admittance/CMakeFiles/hybridadmittance.dir/src/HybridAdmittance/HybridAdmittance.cpp.o] 错误 1
make[2]: *** [Compliant-Control-and-Application-noetic/control_strategy/CMakeFiles/control_strategy.dir/build.make:63：Compliant-Control-and-Application-noetic/control_strategy/CMakeFiles/control_strategy.dir/src/control_strategy/control_strategy.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:7219：Compliant-Control-and-Application-noetic/control_strategy/CMakeFiles/control_strategy.dir/all] 错误 2
make[1]: *** 正在等待未完成的任务....
make[1]: *** [CMakeFiles/Makefile2:8657：Compliant-Control-and-Application-noetic/control_algorithms/admittance/CMakeFiles/hybridadmittance.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2
Invoking "make -j2 -l2" failed

roslaunch admittance Wrench_Fake.launch

在运行roslaunch admittance Wrench_Fake.launch时，gazebo中机械臂不会继续动，命令行界面会卡在ROS_MASTER_URI=http://localhost:11311

process[WrenchSignalGenerate-1]: started with pid [51331]

关于力传感器的使用

在实现柔顺控制时，请问您是否使用了传感器？

compile error

-- Could not find the required component 'industrial_robot_status_interface'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by
"industrial_robot_status_interface" with any of the following names:

industrial_robot_status_interfaceConfig.cmake
industrial_robot_status_interface-config.cmake

请问怎么处理机械臂末端向物体表面接触瞬间的冲击力？

您好！

机械臂末端向物体表面接触瞬间，会有很大的冲击力，导纳控制会导致机械臂往复运动几个回合。请问怎么处理这个冲击力？代码中有体现吗？

谢谢！

Need published paper

Do you have published papers presenting these algorithms？Thanks！

关于力位混合控制

你好，请问我在进行力位混合控制时，机械臂末端跟轮胎表面不贴合，一直是垂直于地面，这个怎么解决

ROS version?

hello, can you tell me the version of ROS? when I catkin_make in ROS melodic, something is wrong...

话题topic_cart_pose_cmd似乎没有发布者

Compliant-Control-and-Application/control_algorithms/hybrid_position_force_control/src/hybrid_position_force_control.cpp

Line 37 in c8de3e5

sub_cart_pos_cmd_ = nh_.subscribe(topic_cart_pose_cmd, 5,

这个话题似乎只有subscriber而没有publisher，所以下文中的cmd_pose_position_是如何得到？其用意是什么？

在编译成功后运行代码出错

ros版本：neotic

运行launch文件报错

Real UR5e robotic arm's initial pose

@MingshanHe Hello, thank you for your work, which is very helpful to my work. When I run admittance.launch using the physical UR5e robotic arm, The robotic arm will continue to move once it reaches its initial position. It does not stay still in its initial state waiting for an external force to be applied. How should the situation be handled?

如果我需要移植该控制到其他机械臂，我需要修改什么文件

如果我需要移植该控制，我需要修改什么文件

About the real robot application of the `joint torque controller`

I tried to apply the code to my real UR3 robot.
The followings have been done:

1. change the ur_robot_driver/config/ur3_controller.yaml
2. change the bringup launch file
3. change the load_ur3.launch "hardware_interface/PositionJointInterface" to EffortJointInterface

It gives the following ERROR for the joint torque controller

This controller requires a hardware interface of type 'hardware_interface::EffortJointInterface'. Make sure this is registered in the hardware_interface::RobotHW class.

I have reviewed the ur_robot_driver, and find no place to define a RobotHW for joint torque controller, Can you tell us the details of applying the controller to a real UR robot?

Some problems regarding /wrench

你好：

感谢回复，在浏览了源码及尝试了sim-devel和noetic两个branch后依然有以下几个问题想请教，希望您能有空答复：
在sim-devel branch下，似乎xacro文件中的六轴力传感器和/WrenchSigbakGenerate都会通过消息/wrench发送到/Admittance。在不launchur5e.launch的情况下，单独发布话题/WrenchSignalGenerate能够正确生成fake wrench，如下图：

然而，如果launchur5e.launch及/WrenchSignalGenerate，（由于ft_sensor的干扰？）/wrench会产生巨大的震荡，如下图：

下图是sim-develbranch下的Node Graph（/wrench有震荡）:

以上是sim-devel branch的问题，同样我也尝试了noeticbranch。/wrench/force和/wrench/torque依然有一个微小变化的值，/wrench_fake能够通过/WrenchSigbakGenerate正常发布但是无法发送到/Admittance，如下图：

因此，我的疑惑是：

1. ft_sensor的作用？以及为何会有初始值及存在震荡
2. 在noeticbranch下正确的Node Graph？/gazebo->/wrench是存在的么？我注意到control_algorithms/admittance/launch/Admittance.launch文件中：<arg name="TOPIC_WRENCH_STATE" default="/wrench"/>而不是使用/wrench_fake，不知道这里是否正确？
3. 以上两个branch的问题是否有一些提示呢？

感谢您的时间，期望您有空解答。Thanks!
Env: UBuntu 20 + Noetic, complied through catkin build

导纳控制问题请教

您好，请问在ur5e上，在gazebo下启用roslaunch时候，没有抖动，而我更改了ur5实现导纳控制，出现大幅度抖动，在roslaunch导纳时，出现加速过高的现象的原因是什么

WrenchSignalGenerate.cpp 如何修改 Wrench

您好：
十分感谢您的资料。我想请教一下如何在此文件中成功修改所模拟的虚拟wrench大小呢？我在原来的基础上进行了修改，例如：
while (ros::ok()) { // wrench_msg.force.x = sin(t); // wrench_msg.force.y = sin(t); // wrench_msg.wrench.force.z = 5*sin(t); if(static_cast<int>(t)%10 < 5) { wrench_msg.wrench.force.x = 5; } else { wrench_msg.wrench.force.x = -5; } t += 1/TOPIC_HZ; wrench_pub.publish(wrench_msg); loop_rate.sleep(); }
但是在仿真中未能沿着力的方向(x)移动。另外想请教一下为何在rqt_plot中无法正确显示Wrench。非常感谢。（ROS Melodic + sim-devel branch)

关于导纳实现问题

你好，看到你的导纳控制实现，似乎是将力数据转换到基坐标系下，再进行笛卡尔速度规划。
但如果我想跟踪的是一个曲面，要求在曲面的法向进行恒力跟踪，是不是就不太好解决了，希望您能指点一二

这些ros上的控制能否移植

这些ros上的控制能否移植到其他机械臂上？

Error when catkin_make

Hi, @MingshanHe

When I catkin_make, an error came out. I do not know if it is my ROS problem or?

"In file included from /home/walter/catkin_ws/src/Compliant-Control-and-Application/control_strategy/src/control_strategy/control_strategy.cpp:1:
/home/walter/catkin_ws/src/Compliant-Control-and-Application/control_strategy/include/control_strategy/control_strategy.h:11:10: fatal error: cartesian_state_msgs/PoseTwist.h: No such file or directory
11 | #include "cartesian_state_msgs/PoseTwist.h"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [Compliant-Control-and-Application/control_strategy/CMakeFiles/control_strategy.dir/build.make:63: Compliant-Control-and-Application/control_strategy/CMakeFiles/control_strategy.dir/src/control_strategy/control_strategy.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:9283: Compliant-Control-and-Application/control_strategy/CMakeFiles/control_strategy.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
In file included from /home/walter/catkin_ws/src/Compliant-Control-and-Application/control_algorithms/admittance/src/Admittance/Admittance.cpp:8:
/home/walter/catkin_ws/src/Compliant-Control-and-Application/control_algorithms/admittance/include/admittance/Admittance.h:14:10: fatal error: cartesian_state_msgs/PoseTwist.h: No such file or directory
14 | #include "cartesian_state_msgs/PoseTwist.h"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [Compliant-Control-and-Application/control_algorithms/admittance/CMakeFiles/admittance.dir/build.make:63: Compliant-Control-and-Application/control_algorithms/admittance/CMakeFiles/admittance.dir/src/Admittance/Admittance.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:11586: Compliant-Control-and-Application/control_algorithms/admittance/CMakeFiles/admittance.dir/all] Error 2
In file included from /home/walter/catkin_ws/src/Compliant-Control-and-Application/control_algorithms/admittance/src/HybridAdmittance/HybridAdmittance.cpp:1:
/home/walter/catkin_ws/src/Compliant-Control-and-Application/control_algorithms/admittance/include/hybridadmittance/HybridAdmittance.h:6:10: fatal error: cartesian_state_msgs/PoseTwist.h: No such file or directory
6 | #include "cartesian_state_msgs/PoseTwist.h"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [Compliant-Control-and-Application/control_algorithms/admittance/CMakeFiles/hybridadmittance.dir/build.make:63: Compliant-Control-and-Application/control_algorithms/admittance/CMakeFiles/hybridadmittance.dir/src/HybridAdmittance/HybridAdmittance.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:11559: Compliant-Control-and-Application/control_algorithms/admittance/CMakeFiles/hybridadmittance.dir/all] Error 2
"

Thank you very much!

Could not load class 'cartesian_controller/CartesianVelocityController': Could not find library corresponding to plugin cartesian_controller/CartesianVelocityController. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.

在运行roslaunch ur_gazebo ur5e_bringup.launch transmission_hw_interface:=hardware_interface/PositionJointInterface specified_controller:=cartesian_velocity_controller出现问题

关于恒力打磨

你好，我现在尝试用ros控制ur5e进行恒力打磨，请问您觉得这个是否有可行性呢？

Could not load controller 'cartesian_velocity_contraller_sim' because the type was not specified.

[ERROR] [1647413655.498812691, 0.289000000]: Could not load controller 'cartesian_velocity_contraller_sim' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/cartesian_velocity_contraller_sim')?
Error when loading 'cartesian_velocity_contraller_sim'
[ERROR] [1647413655.501064126, 0.291000000]: Could not start controller with name 'cartesian_velocity_contraller_sim' because no controller with this name exists

hi, the erroe was occured when i run 'roslaunch ur_e_gazebo ur5e.launch controller:=cartesian_velocity_controller_sim' in ros.