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关于力位混合控制 #20

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hxqhaoxinqing opened this issue Feb 16, 2023 · 4 comments
Open

关于力位混合控制 #20

hxqhaoxinqing opened this issue Feb 16, 2023 · 4 comments

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@hxqhaoxinqing
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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
@MingshanHe
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由末端力传感器获取的数据与坐标系匹配错误导致，尝试更换transform矩阵或者更换坐标系

@hxqhaoxinqing
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hxqhaoxinqing commented Feb 16, 2023 •
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我之前可能描述的不太准确，它一开始是与轮胎表面有关小夹角，运动到最后才是垂直于地面
default_gzclient_camera(1)-2023-02-16T22_40_14 252668
我想请问一下，坐标系怎么改呀，是在ur_macro改传感器插件里面那个jointname吗，还是改transform矩阵的两个坐标系

@MingshanHe
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MingshanHe commented Feb 17, 2023 •
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在主要的算法实现的cpp文件中会将获取到的力数据描述成1*6的向量，可以在算法中找一下这部分进行修改。

@hxqhaoxinqing
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hxqhaoxinqing commented Feb 19, 2023 •
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好的，请问最终的实现效果是只能在一个小圆弧上贴合是吗

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@MingshanHe @hxqhaoxinqing