panda_mact_controller

Here you can find a modified version of the adaptive computed torque control that does not require the mass matrix inversion in the parameters update law. The controller is compared against the classical adaptive computed torque control and the adaptive Slotine-li controller (Inertia-Related Control)

Table of Contents

1. Requirements
2. Installation
   1. project-adaptive
   2. casadi
   3. yaml-cpp
3. ThunderPanda
4. Running controllers

Requirements

• To test controllers in gazebo and/or RViz you need to install the package franka_ros in your workspace.
• To use the Franka robot you need the FCI
• To manage yaml files you have to install yaml-cpp.

Installation

As every ROS package you have to compile it:

1. Clone the panda_mact_controller repository to your Catkin Workspace, e.g. ~/catkin_ws:

   cd ~/catkin_ws/src
   git clone https://github.com/CentroEPiaggio/panda_mact_controller.git
   

2. Compile the package using catkin:

   cd ~/catkin_ws
   catkin build
   

Running Controllers

• In launch folder there is a launch file related to the spawning of controller panda_mact_controller_sim.launch, that is useful to set type of controller in gazebo and rviz visualization. If you want set up controllores in real robot you can use the file controller.launch