Admittance Controller
Admittance controller enables you do zero-force control from a force measured on your TCP.
The controller implements ChainedControllerInterface, so it is possible to add another controllers in front of it, e.g., JointTrajectoryController.
The controller requires an external kinematics plugin to function. The kinematics_interface repository provides an interface and an implementation that the admittance controller can use.
ROS 2 interface of the controller
Parameters
The admittance controller uses the generate_parameter_library to handle its parameters. The parameter definition file located in the src folder contains descriptions for all the parameters used by the controller.
- joints (string_array)
Specifies which joints will be used by the controller.
Read only: True
- command_joints (string_array)
(optional) Specifies the joints for writing into another controllers reference. This parameter is only relevant when chaining the output of this controller to the input of another controller.
Read only: True
Default: {}
- command_interfaces (string_array)
Specifies which command interfaces the controller will claim.
Read only: True
- state_interfaces (string_array)
Specifies which state interfaces the controller will claim.
Read only: True
- chainable_command_interfaces (string_array)
Specifies which reference interfaces the controller will export. Normally, the position and velocity are used.
Read only: True
- kinematics.plugin_name (string)
Specifies the name of the kinematics plugin to load.
- kinematics.plugin_package (string)
Specifies the package name that contains the kinematics plugin.
- kinematics.base (string)
Specifies the base link of the robot description used by the kinematics plugin.
- kinematics.tip (string)
Specifies the end effector link of the robot description used by the kinematics plugin.
- kinematics.alpha (double)
Specifies the damping coefficient for the Jacobian pseudo inverse.
Default: 0.01
- ft_sensor.name (string)
Specifies the name of the force torque sensor in the robot description which will be used in the admittance calculation.
- ft_sensor.frame.id (string)
Specifies the frame/link name of the force torque sensor.
- ft_sensor.filter_coefficient (double)
Specifies the filter coefficient for the sensor’s exponential filter.
Default: 0.05
- control.frame.id (string)
Specifies the control frame used for admittance calculation.
- fixed_world_frame.frame.id (string)
Specifies the world frame use for admittance calculation. Gravity must point down in this frame.
- gravity_compensation.frame.id (string)
Specifies the frame which center of gravity (CoG) is defined in. Normally, the force torque sensor frame should be used.
- gravity_compensation.CoG.pos (double_array)
Specifies the position of the center of gravity (CoG) of the end effector in the gravity compensation frame.
Constraints:
length must be equal to 3
- gravity_compensation.CoG.force (double)
Specifies the weight of the end effector, e.g mass * 9.81.
Default: 0.0
- admittance.selected_axes (bool_array)
Specifies whether the axes x, y, z, rx, ry, and rz should be included in the admittance calculation.
Constraints:
length must be equal to 6
- admittance.mass (double_array)
Specifies the mass values for x, y, z, rx, ry, and rz used in the admittance calculation.
Constraints:
length must be equal to 6
each element of array must be within bounds 0.0001
- admittance.damping_ratio (double_array)
Specifies damping ratio values for x, y, z, rx, ry, and rz used in the admittance calculation. The damping ratio is defined as: zeta = D / (2 * sqrt( M * S )).
Constraints:
length must be equal to 6
- admittance.stiffness (double_array)
Specifies the stiffness values for x, y, z, rx, ry, and rz used in the admittance calculation.
Constraints:
length must be equal to 6
each element of array must be within bounds 0.0
- admittance.joint_damping (double)
Specifies the joint damping applied used in the admittance calculation.
Default: 5.0
Constraints:
greater than or equal to 0.0
- enable_parameter_update_without_reactivation (bool)
If enabled, the parameters will be dynamically updated while the controller is running.
Default: true
An example parameter file for this controller can be found in the test folder:
load_admittance_controller:
# contains minimal parameters that need to be set to load controller
ros__parameters:
joints:
- joint1
- joint2
command_interfaces:
- velocity
state_interfaces:
- position
- velocity
chainable_command_interfaces:
- position
- velocity
test_admittance_controller:
# contains minimal needed parameters for kuka_kr6
ros__parameters:
joints:
- joint1
- joint2
- joint3
- joint4
- joint5
- joint6
command_interfaces:
- position
state_interfaces:
- position
chainable_command_interfaces:
- position
- velocity
kinematics:
plugin_name: kinematics_interface_kdl/KinematicsInterfaceKDL
plugin_package: kinematics_interface
base: base_link # Assumed to be stationary
tip: tool0
group_name: arm
alpha: 0.0005
ft_sensor:
name: ft_sensor_name
frame:
id: link_6 # tool0 Wrench measurements are in this frame
external: false # force torque frame exists within URDF kinematic chain
filter_coefficient: 0.005
control:
frame:
id: tool0 # Admittance calcs (displacement etc) are done in this frame. Usually the tool or end-effector
external: false # control frame exists within URDF kinematic chain
fixed_world_frame: # Gravity points down (neg. Z) in this frame (Usually: world or base_link)
frame:
id: base_link # Admittance calcs (displacement etc) are done in this frame. Usually the tool or end-effector
external: false # control frame exists within URDF kinematic chain
gravity_compensation:
frame:
id: tool0
external: false
CoG: # specifies the center of gravity of the end effector
pos:
- 0.1 # x
- 0.0 # y
- 0.0 # z
force: 23.0 # mass * 9.81
admittance:
selected_axes:
- true # x
- true # y
- true # z
- true # rx
- true # ry
- true # rz
# Having ".0" at the end is MUST, otherwise there is a loading error
# F = M*a + D*v + S*(x - x_d)
mass:
- 5.5
- 6.6
- 7.7
- 8.8
- 9.9
- 10.10
damping_ratio: # damping can be used instead: zeta = D / (2 * sqrt( M * S ))
- 2.828427 # x
- 2.828427 # y
- 2.828427 # z
- 2.828427 # rx
- 2.828427 # ry
- 2.828427 # rz
stiffness:
- 214.1
- 214.2
- 214.3
- 214.4
- 214.5
- 214.6
Topics
- ~/joint_references (input topic) [trajectory_msgs::msg::JointTrajectoryPoint]
Target joint commands when controller is not in chained mode.
- ~/wrench_reference (input topic) [geometry_msgs::msg::WrenchStamped]
Target wrench offset (WrenchStamped has to be in the frame of the FT-sensor).
- ~/state (output topic) [control_msgs::msg::AdmittanceControllerState]
Topic publishing internal states.
ros2_control interfaces
References
The controller has position and velocity reference interfaces exported in the format:
<controller_name>/<joint_name>/[position|velocity]
States
The state interfaces are defined with joints and state_interfaces parameters as follows: <joint>/<state_interface>.
Supported state interfaces are position, velocity, and acceleration as defined in the hardware_interface/hardware_interface_type_values.hpp.
If some interface is not provided, the last commanded interface will be used for calculation.
For handling TCP wrenches *Force Torque Sensor* semantic component (from package *controller_interface*) is used.
The interfaces have prefix ft_sensor.name, building the interfaces: <sensor_name>/[force.x|force.y|force.z|torque.x|torque.y|torque.z].
Commands
The command interfaces are defined with joints and command_interfaces parameters as follows: <joint>/<command_interface>.
Supported state interfaces are position, velocity, and acceleration as defined in the hardware_interface/hardware_interface_type_values.hpp.