Acceleration-based WBC - KUKA iiwa
The example can be found in tutorials/kuka_iiwa/cart_pos_ctrl_dynamic.cpp, documentation can be found here. To run the tutorial, type
cd build/tutorials/kuka_iiwa
./cart_pos_ctrl_dynamic
The example shows acceleration-based WBC on a fixed base industrial arm (KUKA iiwa). The outputs are the actuator acceleration and torques that comply with the given task space accelerations. In the example, the end effector tracks a circular trajectory.