python_impedance.rst

Impedance control

Impedance control allows implementation of compliant robot behavior

Table of Contents

• Joint impedance control
  • set_joint_stiffness
  • set_joint_damping
• Cartesian impedance control
  • set_cartesian_stiffness
  • set_cartesian_damping
  • set_cartesian_additional_control_force
  • set_cartesian_max_control_force
  • set_cartesian_max_velocity
  • set_cartesian_max_path_deviation
• Cartesian sine impedance control
  • overlay_desired_force
  • overlay_sine_pattern
  • overlay_lissajous_pattern
  • overlay_spiral_pattern
  • set_cartesian_amplitude
  • set_cartesian_frequency
  • set_cartesian_phase
  • set_cartesian_bias
  • set_cartesian_force_limit
  • set_cartesian_position_limit
  • set_cartesian_total_time
  • set_cartesian_rise_time
  • set_cartesian_hold_time
  • set_cartesian_fall_time
  • set_cartesian_stay_active_until_pattern_finished

---

.section > h3 { display: none; }

Joint impedance control

set_joint_stiffness

.. automethod:: libiiwa.LibIiwa.set_joint_stiffness

set_joint_damping

.. automethod:: libiiwa.LibIiwa.set_joint_damping

Cartesian impedance control

set_cartesian_stiffness

.. automethod:: libiiwa.LibIiwa.set_cartesian_stiffness

set_cartesian_damping

.. automethod:: libiiwa.LibIiwa.set_cartesian_damping

set_cartesian_additional_control_force

.. automethod:: libiiwa.LibIiwa.set_cartesian_additional_control_force

set_cartesian_max_control_force

.. automethod:: libiiwa.LibIiwa.set_cartesian_max_control_force

set_cartesian_max_velocity

.. automethod:: libiiwa.LibIiwa.set_cartesian_max_velocity

set_cartesian_max_path_deviation

.. automethod:: libiiwa.LibIiwa.set_cartesian_max_path_deviation

Cartesian sine impedance control

.. autoclass:: libiiwa.CartesianDOF
    :undoc-members:
    :show-inheritance:
    :members:

.. autoclass:: libiiwa.CartesianPlane
    :undoc-members:
    :show-inheritance:
    :members:

overlay_desired_force

.. automethod:: libiiwa.LibIiwa.overlay_desired_force

overlay_sine_pattern

.. automethod:: libiiwa.LibIiwa.overlay_sine_pattern

overlay_lissajous_pattern

.. automethod:: libiiwa.LibIiwa.overlay_lissajous_pattern

overlay_spiral_pattern

.. automethod:: libiiwa.LibIiwa.overlay_spiral_pattern

set_cartesian_amplitude

.. automethod:: libiiwa.LibIiwa.set_cartesian_amplitude

set_cartesian_frequency

.. automethod:: libiiwa.LibIiwa.set_cartesian_frequency

set_cartesian_phase

.. automethod:: libiiwa.LibIiwa.set_cartesian_phase

set_cartesian_bias

.. automethod:: libiiwa.LibIiwa.set_cartesian_bias

set_cartesian_force_limit

.. automethod:: libiiwa.LibIiwa.set_cartesian_force_limit

set_cartesian_position_limit

.. automethod:: libiiwa.LibIiwa.set_cartesian_position_limit

set_cartesian_total_time

.. automethod:: libiiwa.LibIiwa.set_cartesian_total_time

set_cartesian_rise_time

.. automethod:: libiiwa.LibIiwa.set_cartesian_rise_time

set_cartesian_hold_time

.. automethod:: libiiwa.LibIiwa.set_cartesian_hold_time

set_cartesian_fall_time

.. automethod:: libiiwa.LibIiwa.set_cartesian_fall_time

set_cartesian_stay_active_until_pattern_finished

.. automethod:: libiiwa.LibIiwa.set_cartesian_stay_active_until_pattern_finished