Supporting Files for Paper: RCM-constrained manipulator tracking using differential kinematics control

[Paper] [Code] [Conference Presentation Video] [Demo Video]

Requirements

iiwa_ros requires several packages to be installed in order to work properly:

• ROS - tested in Noetic
• iiwa_ros - ROS Meta-package for controlling KUKA IIWA with a modified FRI Library

Compilation

Add the files in this repositry to your ros_package then compile the package using

cd /path/to/ros_workspace
# source ros workspace
catkin_make

Controller Usage

1. Make sure your Linux/ROS laptop is connected on the KONI Ethernet port and has IP 192.170.10.1 mask 255.255.255.0.
2. On the Smartpad tablet:

• Activate AUT mode (turn key right > AUT > key left)
• In [Application], check yours in order to select it
• Press the mechanical Play button ▶

3. Within 10 seconds before the timeout, launch: roslaunch iiwa_driver iiwa_bringup.launch. This will connect to IIWA robot using FRI. 4 The Smartpad lets you select control mode and stiffness
4. Check that everything works if /iiwa/joint_states is being published and reflects the actual robot state.
5. The Smartpad [Application] tab must remain green. Otherwise you can press Play ▶ again to reconnect.
6. Once you connect to IIWA robot using FRI, run: rosrun your_workspace RCM_Control.launch.

Acknowledgements

The modified iiwa_stack library used was created by Konstantinos Chatzilygeroudis ([email protected])

Authors/Maintainers

• Omar Rayyan ([email protected])
• Vinicius Goncalves ([email protected])
• Nikolaos Evangeliou ([email protected])