I think the OP is referring to a function on some robot arms where the
drives apply enough torque to counterbalance the weight of the arm while
not trying to hold position. This allows you to grab hold of it and
manually move it around. I think this would require some interesting
kinematics to apply just the correct amount of torque on each joint
depending on the arm's position.
Les
On 22/05/2023 10:45, andy pugh wrote:
On Sun, 21 May 2023 at 21:53, theman whosoldtheworld
<bleachk...@gmail.com> wrote:
a curiosity: when the cobots press the freedrive button, they use
torque sensors such as ? on an admittance based control or just add
and subtract torque to the loop in torque control?
I think that we need more context to even understand the question.
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