Impedance Control using Kawada’s Hironx Dual-arm Robot
Here’s an advanced usecase of NEXTAGE Open (Hironx) robot.
A robot at Manipulation Research Group at AIST (Japan) is equipped with JR3 6-axis force sensor at the tip of the arms. Using the external force measurement from the sensor, impedance control is achieved to restrain the pose of the robot’s end-effector.
Interested users can take a look at this wiki page for how to configure your driver. Technically you can use other types of force sensors.
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Ryosuke Tajima administrator
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