Motion Force Control of Franka Robot Arm Based on Genesis Simulation

    

Overview

This is a course project for ARCL (Advanced Robot Control and Learning). This repo focused on decoupled force and motion control.

This repository implemented a simple gym style environment of franka emika panda simulated with Genesis.

The controllers included methods from paper "Hybrid Force-Impedance Control for Fast End-Effector Motions" and "Partially Decoupled Impedance Motion Force Control Using Prioritized Inertia Shaping".

Installation

Prerequisites

Install Pixi if you don't have it already.

curl -fsSL https://pixi.sh/install.sh | sh

One-line installation & activation

Clone this repository and run:

pixi shell

Controllers

Cartesian Impedance controller

Default cartesian impedance controller.

python scripts/sim.py -e default -c imp
python scripts/sim.py -e box -c imp
python scripts/sim.py -e surface -c imp

Motion Force Controller

Cartesian impedance controller with explicit force PD control.

python scripts/sim.py -e box -c mfc
python scripts/sim.py -e surface -c mfc

Hybrid Force Impedance Controller

Implementation of the HFIC paper, compensates motion generated theoretical force.

python scripts/sim.py -e box -c hfic
python scripts/sim.py -e surface -c hfic

Partial Decoupled Impedance Motion Force Controller (best)

Implementation of the PD-IMFC paper, shapes partial decoupled inertia.

python scripts/sim.py -e box -c pdimfc
python scripts/sim.py -e surface -c pdimfc