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README.md

franka_control_suite

**This repo is a work in progress **

Contains lowlevel torque controllers for Franka Emika panda and an interprocess communication interface using ZeroMQ. This code base's intended functionality is similar to franka-interface but without any dependancy in ROS.

Dependencies

  • libfranka
  • ZeroMQ
  • Eigen

To do:

  • add python example test scripts
  • add interpolators to all implementations

Notes:

  • IK controller has been tested in the real world. 3 methods have been implemented
    • Moore-Penrose Inverse
    • Damped Least Square
    • Jacobian transpose
  • Joint torque controller listed to desired joint torque commands, clips it to real robot limits and limits the rate before applying.
  • other controllers are being tested currently
  • fixed impedance OSC has been implemented completely, variable impedance and K_p are partially implemented.