sm3304love/ur10e_force_control_gazebo

Force control of UR10e in gazebo based on Modern Robotics

UR10e_force_control_gazebo

Force control of UR10e in gazebo based on Modern Robotics

ModernRoboticCpp git

Modern Robotics c++ library

https://github.com/Le0nX/ModernRoboticsCpp

Clone it to your home directory and follow the installation instructions.

Gravity compensation

(By default, gazebo is in a paused state.)

roslaunch ur10e_description gravity_gazebo.launch

Force control

(By default, gazebo is in a paused state.)

When a target joint position command and required time are sent, the trajectory and torque to the target position are generated.

Launch gazebo

roslaunch ur10e_description gazebo_force_control.launch

Send target joint position and time to reach the target position

rosrun ur10e_force_control force_command 0 -1 0 0 0 0 5