# Cartesian-Impedance-Controller

> 权威词条地址：https://robotics.hellobike.com/sdks/matthias-mayr-cartesian-impedance-controller
> 所属分类：sdks | 最近核验日期：2026-10-12 | 技术层级：L3, L5

## 核心摘要

matthias-mayr 在 GitHub 开源的算法库，主要语言 C++。 A C++ implementation of Cartesian impedance control for torque-controlled manipulators with ROS 2 & 1 bindings.

## 结构化工程参数

| 参数项 | 数值 / 配置 |
| :--- | :--- |
| `layers` | ["L3", "L5"] |
| `links` | [{"title": "GitHub", "url": "https://github.com/matthias-mayr/Cartesian-Impedance-Controller"}] |
| `updated` | 2026-10-12 |
| `repo` | https://github.com/matthias-mayr/Cartesian-Impedance-Controller |
| `language` | ["c++"] |
| `robots` | ["franka-research-3"] |
| `repo_stats` | {"stars": 356, "forks": 52, "as_of": "2026-10-26"} |
| `tool_type` | library |

## 原始核验来源 (Sources)

- [GitHub matthias-mayr/Cartesian-Impedance-Controller](https://github.com/matthias-mayr/Cartesian-Impedance-Controller)