intermediate3_realtime_joint_torque_control.cpp

This tutorial runs real-time joint torque control to hold or sine-sweep all robot joints. An outer position loop is used to generate joint torque commands. This outer position loop + inner torque loop together is also known as an impedance controller.

Warning

The impedance controller in this example is for demo purpose only and has no performance guarantee. To use the robot's built-in high-performance joint impedance controller, please refer to intermediate2_realtime_joint_impedance_control.cpp.

Copyright

Copyright (C) 2016-2024 Flexiv Ltd. All Rights Reserved.

Author

Flexiv

 
#include <flexiv/rdk/robot.hpp>
#include <flexiv/rdk/scheduler.hpp>
#include <flexiv/rdk/utility.hpp>
#include <spdlog/spdlog.h>
 
#include <iostream>
#include <string>
#include <cmath>
#include <thread>
#include <atomic>
 
namespace {
constexpr double kLoopPeriod = 0.001;
 
const std::vector<double> kImpedanceKp = {3000.0, 3000.0, 800.0, 800.0, 200.0, 200.0, 200.0};
const std::vector<double> kImpedanceKd = {80.0, 80.0, 40.0, 40.0, 8.0, 8.0, 8.0};
 
constexpr double kSineAmp = 0.035;
constexpr double kSineFreq = 0.3;
 
std::atomic<bool> g_stop_sched = {false};
}
 
void PrintHelp()
{
    // clang-format off
    std::cout << "Required arguments: [robot SN]" << std::endl;
    std::cout << "    robot SN: Serial number of the robot to connect to. "
                 "Remove any space, for example: Rizon4s-123456" << std::endl;
    std::cout << "Optional arguments: [--hold]" << std::endl;
    std::cout << "    --hold: robot holds current joint positions, otherwise do a sine-sweep" << std::endl;
    std::cout << std::endl;
    // clang-format on
}
 
void PeriodicTask(
    flexiv::rdk::Robot& robot, const std::string& motion_type, const std::vector<double>& init_pos)
{
    // Local periodic loop counter
    static unsigned int loop_counter = 0;
 
    try {
        // Monitor fault on the connected robot
        if (robot.fault()) {
            throw std::runtime_error(
                "PeriodicTask: Fault occurred on the connected robot, exiting ...");
        }
 
        // Target joint positions
        std::vector<double> target_pos(robot.info().DoF);
 
        // Set target position based on motion type
        if (motion_type == "hold") {
            target_pos = init_pos;
        } else if (motion_type == "sine-sweep") {
            for (size_t i = 0; i < target_pos.size(); ++i) {
                target_pos[i] = init_pos[i]
                                + kSineAmp * sin(2 * M_PI * kSineFreq * loop_counter * kLoopPeriod);
            }
        } else {
            throw std::invalid_argument(
                "PeriodicTask: unknown motion type. Accepted motion types: hold, sine-sweep");
        }
 
        // Run impedance control on all joints
        std::vector<double> target_torque(robot.info().DoF);
        for (size_t i = 0; i < target_torque.size(); ++i) {
            target_torque[i] = kImpedanceKp[i] * (target_pos[i] - robot.states().q[i])
                               - kImpedanceKd[i] * robot.states().dtheta[i];
        }
 
        // Send target joint torque to RDK server
        robot.StreamJointTorque(target_torque, true);
 
        loop_counter++;
 
    } catch (const std::exception& e) {
        spdlog::error(e.what());
        g_stop_sched = true;
    }
}
 
int main(int argc, char* argv[])
{
    // Program Setup
    // =============================================================================================
    // Parse parameters
    if (argc < 2 || flexiv::rdk::utility::ProgramArgsExistAny(argc, argv, {"-h", "--help"})) {
        PrintHelp();
        return 1;
    }
    // Serial number of the robot to connect to. Remove any space, for example: Rizon4s-123456
    std::string robot_sn = argv[1];
 
    // Print description
    spdlog::info(
        ">>> Tutorial description <<<\nThis tutorial runs real-time joint torque control to hold "
        "or sine-sweep all robot joints. An outer position loop is used to generate joint torque "
        "commands. This outer position loop + inner torque loop together is also known as an "
        "impedance controller.");
 
    // Type of motion specified by user
    std::string motion_type = "";
    if (flexiv::rdk::utility::ProgramArgsExist(argc, argv, "--hold")) {
        spdlog::info("Robot holding current pose");
        motion_type = "hold";
    } else {
        spdlog::info("Robot running joint sine-sweep");
        motion_type = "sine-sweep";
    }
 
    try {
        // RDK Initialization
        // =========================================================================================
        // Instantiate robot interface
        flexiv::rdk::Robot robot(robot_sn);
 
        // Clear fault on the connected robot if any
        if (robot.fault()) {
            spdlog::warn("Fault occurred on the connected robot, trying to clear ...");
            // Try to clear the fault
            if (!robot.ClearFault()) {
                spdlog::error("Fault cannot be cleared, exiting ...");
                return 1;
            }
            spdlog::info("Fault on the connected robot is cleared");
        }
 
        // Enable the robot, make sure the E-stop is released before enabling
        spdlog::info("Enabling robot ...");
        robot.Enable();
 
        // Wait for the robot to become operational
        while (!robot.operational()) {
            std::this_thread::sleep_for(std::chrono::seconds(1));
        }
        spdlog::info("Robot is now operational");
 
        // Move robot to home pose
        spdlog::info("Moving to home pose");
        robot.SwitchMode(flexiv::rdk::Mode::NRT_PRIMITIVE_EXECUTION);
        robot.ExecutePrimitive("Home()");
 
        // Wait for the primitive to finish
        while (robot.busy()) {
            std::this_thread::sleep_for(std::chrono::seconds(1));
        }
 
        // Real-time Joint Torque Control
        // =========================================================================================
        // Switch to real-time joint torque control mode
        robot.SwitchMode(flexiv::rdk::Mode::RT_JOINT_TORQUE);
 
        // Set initial joint positions
        auto init_pos = robot.states().q;
        spdlog::info("Initial joint positions set to: {}", flexiv::rdk::utility::Vec2Str(init_pos));
 
        // Create real-time scheduler to run periodic tasks
        flexiv::rdk::Scheduler scheduler;
        // Add periodic task with 1ms interval and highest applicable priority
        scheduler.AddTask(
            std::bind(PeriodicTask, std::ref(robot), std::ref(motion_type), std::ref(init_pos)),
            "HP periodic", 1, scheduler.max_priority());
        // Start all added tasks
        scheduler.Start();
 
        // Block and wait for signal to stop scheduler tasks
        while (!g_stop_sched) {
            std::this_thread::sleep_for(std::chrono::milliseconds(1));
        }
        // Received signal to stop scheduler tasks
        scheduler.Stop();
 
    } catch (const std::exception& e) {
        spdlog::error(e.what());
        return 1;
    }
 
    return 0;
}