Hi,
I am trying to get the External force exerted at the end-effector of KUKA lbr iwa 14. Now, through the FRI, I can get external joint torques. Is there a simple way to get the data of external force and write them in a text file?
thanks.
Hi,
I am trying to get the External force exerted at the end-effector of KUKA lbr iwa 14. Now, through the FRI, I can get external joint torques. Is there a simple way to get the data of external force and write them in a text file?
thanks.
This is an iiWA? If I recall correctly, this doesn't run KSS or KRL, but rather a system called "Sunshine"(?) and is programmed in Java.
It will depend on how much of Java was implemented. KSS 8+ supports C-style read/write access to text files. The Sunshine controller might, but I have yet to work with one.
Yes, it is an iiwa, runs on Sunrise OS, and is programmed in Java.
There is an existing function (wrote for applications in Java) that permit poll out the external force on the Smartpad. But I would like to get it on a file though.