| 5 | 5 | You can stream torque commands to each of the four motors (or any subset) while receiving joint position feedback. The actual torques applied at the finger joints are only loosely related to the commanded motor torques because of the large amount of friction introduced by the worm drives. If you want to use torque control, you should implement your own higher-level control wrapper around the torque (using position or velocity). You must also keep track of the finger speeds, motor temperature, and joint limits yourself to prevent damage to the BarrettHand. We recommend an update rate of at least 200Hz to maintain smooth motions in this mode. |
