Hi,
I am working on KUKA LBR iiwa 7R800 and have been searching for the dynamic model used by this robot.
Does anyone know the DH parameters, inertia matrix, mass and center of gravity of each link, and the Jacobian of this model?
Thanks in advance.
Hi,
I am working on KUKA LBR iiwa 7R800 and have been searching for the dynamic model used by this robot.
Does anyone know the DH parameters, inertia matrix, mass and center of gravity of each link, and the Jacobian of this model?
Thanks in advance.
KUKA Sunrise suite isn't OpenSource. So, I doubt you'll find anything on the net about this, especially that the LBR iiwa is a 7axis robot, and one of the most advanced Collaborative robots in the market now.
I tried to find their inverse kinematics model to use it on a 3D modeling, but in vain.
I'm not sure if this would help, but there are quite a few metrics about the robot in the product documentation manual for the LBR, but they do not appear to be as specific as you are looking for (this program was included with your robot on the product documentation and spare parts install disk).
Hope it helps.
Thanks for the replies.
Hi alexanderdsmith,
I could not find any useful info regarding the dynamics of iiwa in the product manual. Is there any code/function by means of which I can get the dynamic parameters using the workbench environment?
Thanks..
Hi Meda,
I was able to compute the DH parameters based off the link lengths provided in the manuals and confirming the link lengths through the cartesian coordinates shown on SmartPad. The cartesian coordinates predicted by the forward kinematics using these DH parameters match very well the cartesian coordinates from the SmartPad:
(This copied from a piece of Matlab code I had written, so please pardon the Matlab syntax)
% Define the parameters
Hbase = 0.340;
d3 = 0.4;
d5 = 0.4;
Htool = 0.0;
% Create the DH chain.
%
% theta d a alpha prismatic
DHlbr = [ 0 0 0 -pi/2 0 ;...
0 0 0 pi/2 0 ;...
0 d3 0 pi/2 0 ;...
0 0 0 -pi/2 0 ;...
0 d5 0 -pi/2 0 ;...
0 0 0 pi/2 0 ;...
0 0 0 0 0 ];
% Create the base frame
Tbase = [eye(3) [0 ; 0 ; Hbase] ; 0 0 0 1];
% Create the tool frame w.r.t. DH output frame
Ttool = [eye(3) [0 ; 0; Htool] ; 0 0 0 1];
Unfortunately, I cannot share the forward kinematics code which computes the Jacobian and gives cartesian coordinates for given joint positions due to company policy. However, using the above DH parameters it's a matter of simply implementing the standard textbook forward kinematics (or using any number of 3rd party libraries/APIs that would do it for you).
I do not have the dynamic model of LBR IIWA 7 R800 (i.e. inertia matrix, gravity vector etc.), and would be very interested in learning if anyone else does.
-Vinay
Hi,
This might be of help to you.
https://www.google.co.in/webhp?sourceid…tual+Parameters
http://www.inacomm2015.ammindia.org/img/94.pdf
Thank you
Thanks! I will take a look.
Hi Vinay,
Thank you so much for the detailed reply...