Schlagwort: ‘collaboration’
TCP and null space impedance for bypassing objects with the KUKA iiwa
In the video two different types of impedance control of the KUKA iiwa are shown: TCP and null space impedance. Furthermore, the bypassing of objects using impedance control has been implemented.
https://youtu.be/VHrV-nh5oTU
First, the two different types of impedance control are demonstrated. Different stiffnesses can be programmed around the individual TCP axes. Two different stiffnesses within a plane are shown in the video. On the other hand, there is null space impedance. In this case, the robot maintains the pose of the TCP and the elbow can be pushed away. As shown in the video, this can be used to bypass an object while maintaining the programmed TCP path.
Project page: NextGeneration
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Teaching the KUKA iiwa by manual guidance
The hand guidance of the collaborative robot KUKA iiwa is well suited for programming spatial points. This is possible both within a program and in the robot’s T1 mode.
https://youtu.be/v7D4yknlxJI
The video shows the manual guidance of the KUKA iiwa within a program. The robot can be guided by hand on the flange when the user presses the gray consent button. After releasing it, the program asks whether the current position is correct and should be saved. Any number of additional positions can then be added. At the end of the program, all stored room points are traversed in the taught sequence.
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