How to impose force on the end-effect (TCP)?

[jianye]

Hello guys,

i'm now working on a kuka iiwa robot in CoppeliaSim.

I want to know how can I impose a force on the end-effector(TCP)of the robot from outside? Is there any function that I can use?
If you have any demo that can achieve force imposing, it would be great.


Bests,

Jian

[coppelia]

Hello Jian,

maybe have a read this article explaining force controlled manipulators in CoppeliaSim

Cheers

[sumi_boss]

Hello

I'm working on a similar task, so I thought I'd reply here too. The tutorial you posted is for force-controlled manipulators, but it focuses on joint force control. Is there anywhere we could find something out about end effector (TCP) force control in Coppelia?

Cheers