February 07, 2022
PickNik’s Andy Zelenak and Denis Stogl presented at ROS-World this past October where they explained the development of ‘Admittance Control in ROS 2.’
One of the top reasons to upgrade from ROS 1 to ROS 2 is better suitability for realtime tasks. We discuss the development of a new ROS 2 controller to handle realtime contact tasks such as tool insertion with industrial robots. The admittance controller handles trajectories and single-waypoint streaming commands, making it compatible with MoveIt and many teleoperation frameworks. Part of the work involved ensuring kinematic limits (position/velocity/acceleration/jerk) are obeyed while limiting interaction forces with the environment. Finally, we give practical recommendations and examples of the admittance controller. A live demo will be shown at our booth.
If you’d like to know more about PickNik’s control services, you can reach out and contact us directly.
MoveIt Pro is PickNik Robotics’ commercial robotics software platform that extends the capabilities of the open-source MoveIt project. Designed for unstructured environments, MoveIt Pro provides powerful tools for motion planning, grasping, perception, and behavior sequencing. With pre-built robot behaviors and a modular runtime architecture, MoveIt Pro significantly reduces engineering effort and time-to-deployment. Its hardware-agnostic design supports a wide range of commercial and custom robotic arms, making it ideal for scalable automation across space, manufacturing, and logistics sectors.
