Hi everyone,
I'm quite new to the field of robotics and I'm now working with a new Kuka LBR iiwa 7 for research. As I can't really ask anyone around me about my issues, I thought about consulting experts in this forum who already worked with the iiwa in the past.
I wanted to ask whether it is possible to program the robot's movement in Java using only the Sunrise OS environment so that it won't move into its own joint limit while performing a cartesian movement for example.
I know that you can plan paths beforehand using ROS and MoveIt but I wanted to achieve some kind of compliant desired force controller in a collaborative human-robot scenario without predefined paths.
Is the Sunrise OS environment even suited for such a task? Should I rather stick to ROS and if so, is there any other library beside the iiwa_stack you can recommend?
That's it for now, I'm thankful for any comment.
Chris