Torque control of the Kinova Gen 3 #293

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1. my-rice

   added a parent issue on Jan 30, 2026

   • Kinova Gen 3 Arm Control #291
2. my-rice

   self-assigned this

   on Jan 30, 2026
3. my-rice

   added the

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   issue type on Jan 30, 2026
4. my-rice commented on Feb 19, 2026

   

   my-rice

   on Feb 19, 2026

   Last edited by my-rice

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   I implemented all items described in this issue in the feature/arm_control branch.

   • Joint-space PD control is implemented (position-command PD) (I deleted it. It was just for testing the module)
   • Joint-space PD + gravity compensation is implemented using joint torque commands. (I commented it out. It was just for testing the module)
   • Validated behavior on the Kinova Gen3
   • Task/operational-space PD control is implemented with kinematics/Jacobian mapping to joint torques

   The task-space controller is currently named cartesian_motion_controller.
   For redundant robots, I added a null-space behavior that tracks a hard-coded joint configuration, but it needs to be configurable.
5. my-rice

   closed this as completedon Mar 23, 2026
6. MMarcus95

   unassigned

   my-rice

   on Jun 29, 2026