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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.
  1. LANL
Publication Date:
OSTI Identifier:
Report Number(s):
Contact Control; 004875WKSTN00
DOE Contract Number:
Resource Type:
Software Revision:
Software Package Number:
Software CPU:
Open Source:
Open Source under the BSD license.
Source Code Available:
Related Software:
Interfaces with Robot Operating System (ROS)
Research Org:
Los Alamos National Lab. (LANL), Los Alamos, NM (United States)
Sponsoring Org:
Contributing Orgs:
Los Alamos National Laboratory (LANL)
Country of Publication:
United States

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