Need help for a School Project.

Hello! I've now been struggling to learn myself how to write a code for basic movements for the KUKA LBR iiwa 7 R800. The task on hand is to make the robot draw the X's and O's in an TicTacToe game. I've been reading some manuals and figured out that I should be using the PTP and CIRC functions for the basic drawing movements, but the lack of example codes frustrate me. It would be awesome if any of you would give me some tips when it comes to coding.

Thanks!

Quote from NullReference

What is it exactly you're struggling with? The manual is pretty comprehensive (Im assuming you were referring to the systems integrator manual).

I'm struggling with the basic approach of the program, like finding out which functions to use and how to use them. I've been reading the Sunrise Workbench Manual, but I can't really get my head around how to make the robot draw the lines and figures I want it to without going below the surface of the table. So I'm wondering about how to make a World that represents the 1 by 1 meter surface of the whiteboard where I can simply put in points to make the robot draw a line from one point to another, making the squares for the game and drawing the X's. And then to draw in a circular motion for the O's.

Quote from NullReference

For this I'm going to assume you have a grasp of the basic principles of robotics and object oriented programming.

Before doing anything you have to create your project with the correct configuration, this is covered fairly well in the manual.

Create your first application, use the provided wizard in workbench. The wizard creates a java class that inherits from the super class RoboticsAPIApplication, because of this your application has access many functions for manipulating the robot. Note, all these functions can be obtained without extending the RoboticsAPI, you just have to import them yourself.

Now it's time to write some code. Inside your application you'll see 2 abstract methods that sunrise has implemented for you, namely "run" and "initialize". The run method is called from the API once when your application is started and the initialize method is called once just before the run method is called. Just as the name suggests, you should initialize your program withing the initialize method. Usually you attach your desired tool to your robot (see sample code).

Now you have a tool that is attached to your robot that you can command to different positions in space. You can calculate where you want the robot move or you can teach it. Teaching is done from the SmartPad. Teaching is simply storing the current robot position in a variable. If you want to learn how to declare and teach positions then I suggest you read the manual.

The most common way to move the robot is by commanding the attached tool to certain position. The tool must be attached to the robot for this to work, see code below.

For your tic tac toe you're going to need to create a base. The main advantage with using a base in this case is it makes calculations easier and you can move the surface you're going to draw on fairly easily.

I'm going to provide you with some code to get started.

Code

package application;


import javax.inject.Inject;
import javax.inject.Named;


import com.kuka.roboticsAPI.applicationModel.RoboticsAPIApplication;
import static com.kuka.roboticsAPI.motionModel.BasicMotions.*;
import com.kuka.roboticsAPI.deviceModel.LBR;
import com.kuka.roboticsAPI.geometricModel.Frame;
import com.kuka.roboticsAPI.geometricModel.Tool;
import com.kuka.roboticsAPI.motionModel.CIRC;
import com.kuka.roboticsAPI.motionModel.CartesianPTP;
import com.kuka.roboticsAPI.motionModel.LIN;
import com.kuka.roboticsAPI.motionModel.MotionBatch;


public class TicTacToe extends RoboticsAPIApplication {


	// Here you fetch the tool you created, the injector finds the right tool if
	// you add the named annotation
	@Inject
	@Named("YourToolName")
	Tool tool;
	// Here we will use the robot to find its flange position so we can attach
	// our tool to it.
	@Inject
	LBR robot;


	// Contains the center points of all 9 squares
	private Frame[][] squares = new Frame[3][3];


	private double canvasWidthHeight;
	double squareWidthHeight = canvasWidthHeight / 3;


	@Override
	public void initialize() {
		// Here we attach our tool to the flange, the flange becomes the tools
		// transoformation provider, this means that the tool will follow the
		// flange when it moves.
		tool.attachTo(robot.getFlange());
	}


	@Override
	public void run() {
		// Get the canvas base, this can be done by drag and drop.
		Frame canvas = getApplicationData().getFrame("/Canvas").copy();


		// Populate the square array
		for (int i = 0; i < 3; i++) {
			for (int j = 0; j < 3; j++) {
				// Calculate the position on the XY plane.
				squares[i][j]
						.setX((squareWidthHeight / 2 + (squareWidthHeight * j)));
				squares[i][j]
						.setY((squareWidthHeight / 2 + (squareWidthHeight * i)));
				// The parent becomes the canvas base. Now our squares will
				// follow the canvas if you recalibrate the canvas base.
				squares[i][j].setParent(canvas);
			}
		}


		// Implement code to wait for command and draw a shape according to
		// input
		// Remember that grid positions are 0 based
		drawCircle(2, 1);
		drawCross(2, 2);


	}


	private void drawCross(int i, int j) {
		Frame corner1 = squares[i][j].copy();
		Frame corner2 = squares[i][j].copy();
		Frame corner3 = squares[i][j].copy();
		Frame corner4 = squares[i][j].copy();


		corner1.setX(corner1.getX() + squareWidthHeight / 2);
		corner1.setY(corner1.getY() + squareWidthHeight / 2);


		corner2.setX(corner2.getX() - squareWidthHeight / 2);
		corner2.setY(corner2.getY() - squareWidthHeight / 2);


		corner3.setX(corner3.getX() - squareWidthHeight / 2);
		corner3.setY(corner3.getY() + squareWidthHeight / 2);


		corner4.setX(corner3.getX() + squareWidthHeight / 2);
		corner4.setY(corner3.getY() - squareWidthHeight / 2);


		// Create all the motions and send them as a batch to the controller
		CartesianPTP toPrePosition = ptp(corner1.setZ(50));
		LIN toCorner1 = lin(corner1);
		LIN toPreCorner1 = lin(corner1.copy().setZ(30));
		LIN toPreCorner2 = lin(corner2.copy().setZ(30));
		LIN toCorner2 = lin(corner2);
		LIN toPreCorner3 = lin(corner3.copy().setZ(30));
		LIN toCorner3 = lin(corner3);
		LIN toPreCorner4 = lin(corner4.copy().setZ(30));
		LIN toCorner4 = lin(corner4);


		// Move the robot to a start position so we know it can plan the motions
		robot.move(ptp(getApplicationData().getFrame("/HomePosition"))
				.setJointVelocityRel(0.3));


		MotionBatch batch = new MotionBatch(toPrePosition, toCorner1,
				toPreCorner1, toPreCorner2, toCorner2, toPreCorner2,
				toPreCorner3, toCorner3, toPreCorner3, toPreCorner4, toCorner4,
				toPreCorner4);


		batch.setJointVelocityRel(0.3);
		tool.move(batch);


		// Return to the start position
		robot.move(ptp(getApplicationData().getFrame("/HomePosition"))
				.setJointVelocityRel(0.3));
	}


	private void drawCircle(int i, int j) {
		Frame auxiliarry = squares[i][j].copy();
		Frame StartEnd = squares[i][j].copy();


		StartEnd.setX(StartEnd.getX()
				- ((squareWidthHeight / 2) - (squareWidthHeight / 10)));
		auxiliarry.setX(auxiliarry.getX()
				+ ((squareWidthHeight / 2) - (squareWidthHeight / 10)));


		// Move the robot to a start position so we know it can plan the motions
		robot.move(ptp(getApplicationData().getFrame("/HomePosition"))
				.setJointVelocityRel(0.3));

		// Create all the motions and send them as a batch to the controller
		CartesianPTP toPrePosition = ptp(StartEnd.copy().setZ(50));
		LIN toStartCircle = lin(StartEnd);
		CIRC drawCircle = circ(auxiliarry, StartEnd);


		MotionBatch batch = new MotionBatch(toPrePosition, toStartCircle,
				drawCircle);

		// Return to the start position
		robot.move(ptp(getApplicationData().getFrame("/HomePosition"))
				.setJointVelocityRel(0.3));
	}
}

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This helped alot! Thanks!