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.
1 answers
solution1
1 ACCPTED 2015-07-20 15:06:27
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().
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