Added two new control modes PD controller in joint space and PD contr… #336
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…oller in task space The pd controller in joint space will accept joint targets and compute joint torques based on PD control scheme. The pd controller in task space will accept task space targets and use inverse kinematics to compute joint targets which are then used to compute joint torques based on PD control scheme.
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## torque_control #336 +/- ##
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Coverage ? 81.22%
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Files ? 1
Lines ? 229
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Partials ? 0
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urfeex
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Jun 4, 2025
include/ur_client_library/control/torque_command_controller_parameters.h
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include/ur_client_library/control/torque_command_controller_parameters.h
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Co-authored-by: Felix Exner <feex@universal-robots.com>
urfeex
approved these changes
Jun 5, 2025
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…oller in task space
The pd controller in joint space will accept joint targets and compute joint torques based on PD control scheme.
The pd controller in task space will accept task space targets and use inverse kinematics to compute joint targets which are then used to compute joint torques based on PD control scheme.