Contact Control, Version 1

Software · Thu Jul 21 00:00:00 EDT 2016

OSTI ID:1306079

von Sternberg, Alex ^[1]

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1. LANL

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.

• Short Name / Acronym: Contact Control; 004875WKSTN00
• Project Type: Open Source under the BSD license.
• Site Accession Number: C16109
• Version: 00
• Programming Language(s): Medium: X; OS: Linux (verified for Ubuntu 14.04)
• Research Organization: Los Alamos National Laboratory (LANL), Los Alamos, NM (United States)
• Sponsoring Organization: USDOE
• Contributing Organization: Los Alamos National Laboratory (LANL)
• DOE Contract Number: AC52-06NA25396
• OSTI ID: 1306079
• Country of Origin: United States