May 27, 2019, 05:26:35 AM
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 Velocity Control for iiwa lbr R820

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August 11, 2016, 12:51:38 AM
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AntonyWu


Hello Everyone,

I am currently working on a project, which requires velocity control but not position control. I have dig into the library and user manual for lots of time, but I can only find some deprecated and internal-use objects. Does anyone has experience manipulating iiwa R820 under velocity control?

My system is as below,
lbr iiwa R820
Sunrise cabinet
Sunrise OS 1.7.2.14 (Not yet upgrade to 1.11)

Thanks in advance!

Today at 05:26:35 AM
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August 11, 2016, 12:05:23 PM
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kiiwa


Hi,
I'm assuming you wnat to use Velocity control in the Safety Configuration and not in the java program.
For the LBR iiwa, There are two types of velocity monitoring. You can monitor either Axes velocities one by one or Cartesian velocities (Robot velocity, Tool, or Robot and Tool)

Follow the steps in the screenshots attached of a SunriseWorkbench project, where I show you how to create a new Row in the Customer PSM in the SafetyConfiguration.conf, and how to Add AMF's to that Row, containing Axis specific/Cartesian Velocities monitoring instances.

Don't hesitate if you have more questions.





August 12, 2016, 12:07:09 AM
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AntonyWu


Hi,

Thanks for your reply!
Unfortunately what I need is not just monitor the velocity, but actually controlled the velocity. It is due to the application needs very smooth motion, so we want to control the velocity rather than the position.

August 12, 2016, 06:55:50 AM
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kiiwa


You can control the parameters of your motions in the Java program in different ways, depending on your needs:
- Absolute Cartesian velocity
- Axis-specific relative velocity
- Absolute Cartesian acceleration
- Axis-specific relative acceleration
- Absolute Cartesian jerk
- Axis-specific relative jerk
- ..., etc.


Everything is explained in the document (KUKA_SunriseOS_1x_SI_en.pdf) provided with the Robot by KUKA. You'll find them in Chapter 15.10 Motion parameters


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