Define tool as default

    Hello,


    I am trying to control the KUKA LBR iiwa robot in torque command mode using the FRI, but I am having difficulty with gravity compensation due to the addition of a 1.2 kg gripper. I have created a new tool in Sunrise and can see it on the smartpad, but I am unsure of how to utilize it when controlling the robot through the FRI. Any assistance would be greatly appreciated.


    Thank you. -Max

    Hello,

    It been a while since I used FRI, but to include a Tool in your motion you need to do these steps:

    in the "import" section:

    Code
    import com.kuka.roboticsAPI.geometricModel.Tool;

    inside your Class variables' section:

    Code
    @Inject
 private Tool myTool;

    in initialize()

    Code
    myTool = getApplicationData().createFromTemplate("_gripper");
myTool.attachTo(robot.getFlange());

    Then in run() instead of using

    Code
    lbr.move(ptp(startPosition).setJointVelocityRel(0.3));

    Use:

    Code
    myTool.getFrame("TCP").move(ptp(startPosition).setJointVelocityRel(0.3));

    Hope this helps

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