How to activate gravity compensation at KUKA LBR iiwa

Question

How to activate gravitation compensation at KUKA LBR iiwa? There is a Class GravComp which says, that using the GravComp command will bring the given LBRs into gravitation compensation, but I can't find this command neither a method to start it.

score 1 · Accepted Answer · answered Jul 20 '15 at 15:06

1

The gravitation compensation is officially not available yet. That means, the only possibility to get a 'pseudo' gravitation compensation is to use impedance mode with a stiffness of zero or using handGuiding().

answered Jul 20 '15 at 15:06

Maxi

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How to activate gravity compensation at KUKA LBR iiwa

1 Answers1