PR2 Arm Control

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	Actionlib Command topic	Command topic	Command topic	Command topic	Actionlib Command topic
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)
Specify Trajectory	Yes	No	No	No	Yes
Change Gains on the Fly	No	Yes	Yes	No	Yes
Integral Control	Yes	No	No	No	No