Extension of the ros_control framework (http://wiki.ros.org/ros_control) with different multi-joints controllers
The 'itia_nodelet_hw_interface' is the core of the package. It introduces the possibility to connect different controller just configuring the input and the output thorugh a simple yaml file.
The controllers in the repository are:
- itia_virtual_sensor: feedback estimation of the external forces thorugh only internal sensors and the identified robot model dynamics
- itia_model_feedforward: robot dynamics model feedforward
- itia_velocity_control: multi-joint velocity controller
- itia_joint_impedance_control: multi-joint immpedance controller
- itia_cart_impedance_control: Cartesian impedance controller
- itia_cascade_control: multi-joint position-velocity controller
- itia_deflection_control: multi-joint defelceion controller (SEA motor)
- itia_driver_mass_controller:
- itia_fake_controller_system: for simulation pruposes
- itia_helios_controller: a feedforward controller based on a FIR filter that smooth and micro-interpolates each control-loop setpoins.
Authors:
- Manuel Beschi (manuel.beschi@itia.cnr.it)
- Nicola Pedrocchi (nicola.pedrocchi@itia.cnr.it)
Software License Agreement (BSD License) Copyright (c) 2016, National Research Council of Italy, Institute of Industrial Technologies and Automation. All rights reserved.
This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No. 637095.