Lead-through mode on IIWA 14

    Are there any functions on IIWA 14 to control/teach the robot by physically guiding through it? ABB's YuMi has the function called "lead-through" mode (

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    ) and I wonder IIWA has the same functionality.

    Quote from kangaroo


    Are there any functions on IIWA 14 to control/teach the robot by physically guiding through it?

    Yes, it exists. It's called handguiding, and it has been discussed thoroughly in this forum, just search for it. this mode allows you to guide the robot with your hand, you can use the buttons on the Media flange if you have an LBR Touch elektrisch, and if yo have a robot with no buttons on the flange use an external X11 enabling switch.
    To teach it the points , you have just to create a small program to sample points, as there's no sample program provided by KUKA, as far as I know, for this.

    Good Luck

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