Force gain matrix in Impedance #81
buschbapti
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This is very much related to #333 ! Should we start that discussion again @buschbapti ? |
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At the moment, the impedance control law adds the force error in a feedforward fashion without the possibility to turn it off or scale it. I think we should add a gain matrix in front, set by default as
Identityto have at least the possibility of removing the forces in controllers such asDissipative.Beta Was this translation helpful? Give feedback.
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