How can I use force control with moving the arm together?

[impet14]

Hi all, I would like to control iiwa arm using force control to limit force when the robot hit something. How could I do that? I am the beginner for iiwa. Thanks guys

[SalvoVirga]

It really depends on what you need to do. You could use the provided topics and listen to the current Joint Torques (/iiwa/state/JointTorque) and/or Cartesian Forces/Torques (/iiwa/state/CartesianWrench) and act accordingly when needed.

[impet14]

Thanks for the reply. Can we control the arm for parallel force/position control?

[SalvoVirga]

Again, it really depends what you need to do. But yes, you can control the robot in position control mode, switch to impedance mode and back, apply a fixed force while commanding positions etc.

[ywen27G]

@SalvoVirga Sir, I wonder if you are familiar with other KUKA products? We are looking for an industry robot with the payload of minimum 13 kg that could accept joint speed commands in real-time. I have been searching for almost two days. But I didn't get much luck. Really appreciate your help.