Module description

This module implements a simple torque control balancing strategy. The robot is assumed to have its base_link fixed on a pole. Input torques are the gravity torques which allow to perform gravity compensation. Optionally, it is also possible to move each controlled joint in order to track a desired joints trajectory.

Compatibility

The folder contains the Simulink model jointsControl.mdl, which is generated by using Matlab R2017b.

Supported robots

Currently, supported robots are: iCubGenova04, iCunGenova02, icubGazeboSim, iCubGazeboV2_5.

Module details

How to run the demo

For information on how to use the controllers both in simulation and with the real robot, please refer to the wiki of the repo.

Configuration file

At start, the module calls the initialization file initJointsControl.m. Once opened, this file contains some configuration variables. Please follow the instruction inside the script to properly configure your simulation.

Robot and demo specific configurations

The gains and references for a specific robot (specified by the variable YARP_ROBOT_NAME) or a specific demo can be found in the folder app/robots/YARP_ROBOT_NAME.