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Enable dynamic stiffness for manual motion #72

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dmcconachie opened this issue Jan 9, 2018 · 0 comments
Open

Enable dynamic stiffness for manual motion #72

dmcconachie opened this issue Jan 9, 2018 · 0 comments
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enhancement

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@dmcconachie
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It would be useful to have some tactile feedback in terms of distance to joint limits; right now to make the robot easily compliant in the middle of the joint limits requires impedance parameters that make it very easy to drive past joint limits. Dynamic stiffness could be used to address this in some fashion, at the same time allowing for the soft joint limits to be less stringent.
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@dmcconachie