Zero Torque Controller

Description

This controller attempts to control the joint so that the output torque is zero. It can be operated with or without closed-loop control.

Parameters

Parameter index order can be found in ControllerData.h.

  • use_pid This flag turns PID on (1) or off (0).

  • p_gain Proportional gain for closed-loop control.

  • i_gain Integral gain for closed-loop control.

  • d_gain Derivative gain for closed-loop control.