Hi all,
I would like to know if it is possible and how to send a jog command to a specific joint of the Kuka LBR iiwa robot from Java.
Thank you very much
Giacomo
Hi all,
I would like to know if it is possible and how to send a jog command to a specific joint of the Kuka LBR iiwa robot from Java.
Thank you very much
Giacomo
jog command? Like rotate axis 1 20 degrees ? from regular sunrise application?
Yes, refer to the Operating and Programming Instructions manual for LBR IIWA, Chapter 14: Basic principles of motion programming.
Hello,
Here is what I think you are looking for:
iiwa.move(ptp(Math.toRadians(1),Math.toRadians(2),Math.toRadians(3),Math.toRadians(4),Math.toRadians(5),Math.toRadians(6),Math.toRadians(7)).setJointVelocityRel(0.2));
Just replace "iiwa" by your robot declaration and the 1,2,3... by the value in degres that you want for each axis (I added a joint velocity of 20% just to move safely)
Hello,Here is what I think you are looking for:
iiwa.move(ptp(Math.toRadians(1),Math.toRadians(2),Math.toRadians(3),Math.toRadians(4),Math.toRadians(5),Math.toRadians(6),Math.toRadians(7)).setJointVelocityRel(0.2));
Just replace "iiwa" by your robot declaration and the 1,2,3... by the value in degres that you want for each axis (I added a joint velocity of 20% just to move safely)
You shouldn't always put
, because if you have a tool attached to it, you can damage the tool and the robot (Because the robot will not consider the tool's payload or dimensions while planning for its motion)