skip to main content

Title: Contact Control, Version 1

The contact control code is a generalized force control scheme meant to interface with a robotic arm being controlled using the Robot Operating System (ROS). The code allows the user to specify a control scheme for each control dimension in a way that many different control task controllers could be built from the same generalized controller. The input to the code includes maximum velocity, maximum force, maximum displacement, and a control law assigned to each direction and the output is a 6 degree of freedom velocity command that is sent to the robot controller.
Authors:
 [1]
  1. LANL
Publication Date:
OSTI Identifier:
1306079
Report Number(s):
Contact Control; 004875WKSTN00
C16109
DOE Contract Number:
AC52-06NA25396
Resource Type:
Software
Software Revision:
00
Software Package Number:
004875
Software CPU:
WKSTN
Open Source:
Yes
Open Source under the BSD license.
Source Code Available:
Yes
Related Software:
Interfaces with Robot Operating System (ROS)
Research Org:
Los Alamos National Lab. (LANL), Los Alamos, NM (United States)
Sponsoring Org:
USDOE
Contributing Orgs:
Los Alamos National Laboratory (LANL)
Country of Publication:
United States

To initiate an order for this software, request consultation services, or receive further information, fill out the request form below. You may also reach us by email at: .

ESTSC staff will begin to process an order for scientific and technical software once the payment and signed site license agreement are received. If the forms are not in order, ESTSC will contact you. No further action will be taken until all required information and/or payment is received. Orders are processed within three to five business days.


Software Request