Difference between revisions of "PR2 Arm Control"
From Healthcare Robotics Wiki
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* Actionlib | * Actionlib | ||
| + | |- | ||
| + | ! scope="row" | Demonstrated Tasks | ||
| + | | | ||
| + | * Planning and manipulation stack | ||
| + | * Scratch approach ver. 1 | ||
| + | * Trajectory playback | ||
| + | * Overhead grasping | ||
| + | || | ||
| + | * Lightswitch | ||
| + | * Interactive grasping | ||
| + | * THEP remote control | ||
| + | * Door opening | ||
| + | || | ||
| + | * Invisible surface | ||
| + | || | ||
| + | || | ||
| + | * Sweeping with broom | ||
| + | * Brushing on table | ||
| + | * Writing with pencil | ||
| + | * Flipping pages in a book | ||
| + | * Cutting a cake | ||
| + | * Door opening (not smoothly) | ||
|- | |- | ||
! scope="row" | Specify Trajectory | ! scope="row" | Specify Trajectory | ||
| {{yes}} || {{no}} || {{no}} || {{no}} || {{yes}} | | {{yes}} || {{no}} || {{no}} || {{no}} || {{yes}} | ||
| + | |- | ||
| + | ! scope="row" | Change Gains on the Fly | ||
| + | | {{no}} || {{yes}} || {{yes}} || {{no}} || {{yes}} | ||
| + | |- | ||
| + | ! scope="row" | Integral Control | ||
| + | | {{yes}} || {{no}} || {{no}} || {{no}} || {{no}} | ||
|} | |} | ||
Revision as of 23:55, 29 June 2011
Low-level Controllers
| Controller | Joint Spline Trajectory Controller | JTranspose Controller | JTranspose Task Controller | JInverse Controller | End Effector Cartesian Impedance Control |
|---|---|---|---|---|---|
| Designer | Stuart Glaser | Stuart Glaser | Adam Leeper | Stuart Glaser | MIT |
| Control Type | Joint space | Cartesian Space | Cartesian Space | Cartesian Space | Cartesian Space |
| Interfaces |
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| Demonstrated Tasks |
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| Specify Trajectory | Yes | No | No | No | Yes |
| Change Gains on the Fly | No | Yes | Yes | No | Yes |
| Integral Control | Yes | No | No | No | No |
