entered at steps 2a and/ or 2b. It will then go back to the surface and apply the same force/ torque values while pulling back less
and less over time.
Fig. 4-29: End-effector experiencing adaptive stiffness upon repeated contact with a surface on CB-Series
Current vs targeted position
From the Force Control node, you can choose to either:
l
Apply force at the current position
l
Apply force based on a targeted position
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