When I got into doing my first real contact-rich tasks with robot arms, I did not really know where to start with compliant control, what to pay attention to and which type of compliant control to use with the arms that I had. This talk covers the basics of this topic and I am happy I could contibute it to ROSConDE 2025 in Strassbourg.
Not all tasks for robotic arms can be performed using rigid position control, which is still the standard method. Many advanced tasks, such as surface finishing, tight insertion, or similar contact-intensive manufacturing tasks, require fast and precise force control. This presentation introduces the possibilities of force control with ROS 2. It presents the available control approaches and their implementation. Furthermore, the specific force control options available for common robot arms will be demonstrated.
The presentation is particularly important for users of robotic arms who want to look beyond the boundaries of purely rigid position control. However, the presentation provides an important overview, especially for those who have not yet been able to gain their own experience. Even experienced users who have worked with a control concept and an arm manufacturer can learn about the alternatives.
Note: This talk was given in German due to regulations of local ROSCon events.
A video is available on https://vimeo.com/1156746801
The slides can be downloaded here
Providing an introduction to knowledge-based robotics and how to use it with ROS.
A workshop to allow everyone to experiment with different decision-making frameworks on the same problems.
The ROSCon presentation of SkiROS2, an open source and robot-agnostic control platform for ROS with knowledge representation.
Starting a new robotics meetup in Bremen to allow roboticists to connect, share knowledge, and collaborate on projects.