robot-assisted-retraction

Iterative enhanced variable admittance control and null-space optimization

Prerequisites

• MATLAB
• Kuka Sunrise Toolbox https://github.com/Modi1987/KST-Kuka-Sunrise-Toolbox
• NetFT https://github.com/CameronDevine/NetFT

Structure of the code

• ATISensor.m This is matlab function, and used to read force/torque data from ATI sensors. It is worth noting that the Python package is used here, and you need to install NetFT using pip install NetFT in your Python environment.
• Iterativee enhanced control and Null space.m This is the main code, which includes iterative enhanced variable admittance control and null-space optimization. It uses real-time from ATI sensors and velocity loop.
• Interaction_model.m This is the fixed-parameters admittance control, and uses the bulit-in joint torque sensor of the KUKA.