This package contains a ros node that generates wrenches (forces + torques) based on the current position of a tool and its desired one. Torques are generated as a simple visco-elastic function of the orientation. To generate forces 4 methods are available: a visco-elastic method and three non-energy-storing force generation methods. For a description of these methods and discussions on their behavior please refer to:
"N. Enayati, E. C. Alves Costa, G. Ferrigno, and E. De Momi, “A Dynamic Non-Energy-Storing Guidance Constraint with Motion Redirection for Robot-Assisted Surgery,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2016"
If this package turns out to be useful to you, please cite the above paper in your works.
ALthough the package was used with a da Vinci research kit, the implementation of the wrench generation methods is accessible as a separate C++ library (ActiveConstraintEnforcementMethods.cpp/.hpp) that can be used with any c++ application as long as KDL types are defined.
This software is released under a BSD license:
Software License Agreement (BSD License)
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\author <https://nearlab.polimi.it/>
\author Nima Enayati
\version -