v2.0.0 Impedance Control

✨ New Features:

A new RobotLibrary::Control::SerialLinkImpedance control class. It is inertia-free free, since many robot manipulators have poor dynamic modeling (thanks, Kuka 😒). It can do basic joint and Cartesian stiffness, with automatic redundancy resolution.

💥 Breaking Changes

• The bool joint_position_gain field in the RobotLibrary::Control::SerialLinkParameters struct has been changed to std::vector<double> joint_position_gains
• The bool joint_velocity_gain field in the RobotLibrary::Control::SerialLinkParameters struct has been changed to std::vector<double> joint_velocity_gains
• The RobotLibrary::Control::SerialKinematicControl class has been renamed to RobotLibrary::Control::SerialLinkKinematics
• The RobotLibrary::Control::SerialDynamicControl class has been renamed to RobotLibrary::Control::SerialLinkDynamics

v1.1.0 - Torque Control

✨ New Features

A new SerialDynamicControl class. It's been tested with this package. The beauty of this is it has the exact same interface as the SerialVelocityControl class 😎.

💥 Breaking Changes

• The RobotLibrary::Control::Parameters struct has been changed to RobotLibrary::Control::SerialLinkParameters.
  • Changed field from CartesianStiffness to CartesianPoseGain
  • Changed field from CartesianDamping to CartesianVelocityGain

The latter 2 were renamed since the SerialDynamicControl class implements resolved acceleration control (RAC), and not Cartesian impedance control.

🐛 Bug Fixes

Fixed an issue with unwinding phenomenon in quaternion feedback.

📜 License Agreement

New dual license:

• Free to use and modify if you keep it free.
• You may use it for profit, as long as I make a tiny bit too 🤏

What's Changed

• Merging master to main by @Woolfrey in #144
• Torque control for robot arms by @Woolfrey in #145

Full Changelog: v1.0.0...v1.1.0

Pre-release of version 1.0.0.

Initial release, enabling velocity control of serial link robot arms.

Includes the following classes, which worked (for me!)

• Control:

  • SerialLinkBase
  • SerialKinematicControl

• Math

  • Polynomial
  • Spline
  • SkewSymmetric

• Model

  • Pose
  • Joint
  • RigidBody
  • Link
  • KinematicTree

• Trajectory

  • TrajectoryBase
  • SplineTrajectory
  • CartesianSpline
  • TrapezoidalVelocity

  Awaiting validation from various users before official, non pre-release.