Warning
Important Notice: The DynaArm is currently a prototype and not ready for commercial use. It is intended solely for research and development purposes. Users are responsible for ensuring safe operation during its use.
Controllers
The duatic_controllers package provides a set of ROS 2 Control controllers and broadcasters tailored for Duatic hardware.
Controller |
Description |
|---|---|
Releases electromagnetic brakes on startup by commanding a small position kick |
|
Immediately puts the arm into a controlled safe stop (stiff hold) |
|
Passive controller that compensates gravity and dynamics — enables free drive |
|
Adds damping on top of gravity compensation for a smoother free drive experience |
|
Virtual FTS sensor that estimates end-effector wrench from actuator torques |
|
Publishes detailed DuaDrive actuator state (temperatures, currents, positions, …) |
|
Allows live adjustment of PID gains in the actuator (testing / setup only) |