From moumarly: I want to do is to show home position, wait until the subject is on home position, and then turn the target on. The robot move the subject hand toward that target. And the movement ends, when that robot reach that target.
There is a block in the TDK for position control with the KINARM EP. The biggest thing to know is that the position control block requires you to make a trajectory over which to move. If you just pass the position control block the end point you wish to move to then the robot will try to drive you to that position immediately, which mean very large forces will be generated.
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