v1.1.0 - Torque Control

[Woolfrey]

✨ 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.

What's Changed

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

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

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This discussion was created from the release v1.1.0 - Torque Control.