skill_apply_force_pid

Applies a force in the direction of a frame

Defined at line 9 of file skills/skill_apply_force_pid.xml in package pitasc_library.

Meta data

Categories
single_robot, force_controlled
Prototypes
skill_force, skill_single_robot, skill, object, dictionary, base, descriptive

Parameters

Required parameters:

force_frame : string
Frame describing the force coordinates
axes : csv:string
List of axes.
target_forces : csv:float
Forces and torques to be applied. Must be the same
number of values as for ‘axes’.

Basic parameters:

robot : dict
Robot that is controlled by the skill (only needs to be set at the application level).

Expert parameters:

skill_name : string
Name of this skill. Must be locally unique.
bounds : list:bound
Contains the bounds description(s).
monitors : list:monitor
Contains the monitors of the skill that determine when the skill should terminate.
transitions : list:transition
Contains additional transitions to other states (skills), given an event name.
scripts : list:script
Contains scripts that should be executed while the skill is active.
force_sensor : dict
Force sensor that provides the wrench measurement.

Hidden parameters:

collections : list:collection
Contains the kinematic chains of the skill (feature, robot, object chains).
Default: odict_keys([‘force_chain’, ‘object_chains’])
loops : list:kinematic_loop
Contains the kinematic loop(s) that define the task to be solved.
Default: odict_keys([‘kinematic_loop’])
tasks : list:task
Contains the task description(s).
Default: odict_keys([‘apply_force’])
K : float
The gain K of the controller
Default: 0.001
Tn : float
The constant Tn impacts the systems inversely, so higher Tn means slower impact
Default: False
Tv : float
The constant Tv impacts the system directly,(its a part of D component), so higher Tv means faster response
Default: False
Tp : float
Compliance [m/(s*N)]
Default: 0.001
u_i_limit : float
The output limit of the i part of the controller
Default: False
I_flag : bool
Parameter to switch integral part on/off
Default: False
D_flag : bool
Parameter to switch derivative part on/off
Default: False

Examples

skill_apply_force_pid is used in the following examples: