How to control the velocity of the end effector?

[EdXian]

Hi all,
I have to control the velocity and acceleration of the end effector due to research purpose .
Is it posible to control these states in simulation?

[gavanderhoorn]

Simulation: yes, but with some work. It should be possible to use gazebo_ros_control and to write a Cartesian controller that will allow you to do what you want. I'm not aware of anything immediately reusable.

Real robot: velocity: not with abb_driver, maybe with abb_libegm. Acceleration (effort?): I'm not aware of a way to control that directly with ABB robots (without a force torque sensor, that is).

[gavanderhoorn]

Could I ask you to please ask questions like this on ROS Answers? This issue tracker is for reporting problems with the packages in this repository. Your question is more a general inquiry.

[EdXian]

Hi @gavanderhoorn,
Ok , thanks you for your information.