[Admittance Controller] Incorporation of Robot's Singularities and Joint Limits #1867
Description
Is your feature request related to a problem? Please describe.
Our robot has hardware limits which need to be incorporated during control, as otherwise the robot will go into emergency stop mode. If we simply crop the position command outputs, the controller is overshooting.
Describe the solution you'd like
Incorporation of Robot's Singularities and Joint Limits
Describe alternatives you've considered
Adding another controller on top will add latency and will not solve the problem of the controller trying to overcompensate if the goal position is never reached.
Additional context
Any ideas on how to solve this the best would be appreciated!