Supporting Files for Paper: RCM-constrained over-actuated manipulator tracking using differential kinematics control
[Paper] [Code] [Conference Presentation Video] [Demo Video]
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
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
- Make sure your Linux/ROS laptop is connected on the KONI Ethernet port and has IP
192.170.10.1
mask255.255.255.0
. - 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 ▶
- 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 - Check that everything works if
/iiwa/joint_states
is being published and reflects the actual robot state. - The Smartpad [Application] tab must remain green. Otherwise you can press
Play ▶
again to reconnect. - Once you connect to IIWA robot using FRI, run:
rosrun your_workspace RCM_Control.launch
.
The modified iiwa_stack library used was created by Konstantinos Chatzilygeroudis ([email protected])
- Omar Rayyan ([email protected])
- Vinicius Goncalves ([email protected])
- Nikolaos Evangeliou ([email protected])