Posts by siberian

Our team is trying to use source tree to manage the source code on sunrise workbench.

I am having two issues:

First:
I was not the person that originally placed the .git into the project however the initial .git placement was within the project (see attached image). This caused a large number of unwanted commits to sourcetree. This seems to be fixed by placing the .git one level up (on the same level as the VoyagerSunrise directory). I am just hoping for a bit of clarification as to why source tree is getting spammed with unwanted commits.

Second:
To ensure that the spam commits were fixed I attempted to push a commit from one computer to another. When I pull from another computer and attempt to synchronize code with the kuka cabinet I get a message the following message: "Local project and project on controller have no common history" (see image). This also requires a reboot of the Kuka cabinet.

We would like the repository to have the correct files such that the synchronization process would react as if I had made changes on sunrise from the same computer and requested a synchronization of the controller and local project.

I am using sunrise 1.14.1.15
also I have a .gitignore assoicated with .metadata as this appears to have a lot of computer specific details.

Thanks

Hello all,

I am trying to activate hand guiding on an LBR 820 if a work-piece pick up failure is detected. Currently, I have the two ESM set up that allow me to go into a hand guiding. While in hand guiding the motion is very grainy and resists movement when compared to compliance mode. I am not sure if there are any additional settings that I am missing to make the movement more like a compliance move while still allowing for moving the flange to (and retaining) a safe location to start the next movement.

when exiting hand guiding the robot remains in a state where handguiding is still possible even though it has exited the testHandGuiding() function

any suggestion would be greatly appreciated.

Edit: Sorry the first source picture is not up to date.

I am using Sunrise Workbench - 1.14.1.15

I believe so. I am using workvisual 5.0, and sunrise workbench 1.14.

Hello All,

I am attempting to configure my IO. I have the etherCat topography of the attached image. I would like to export any changes I have made back to the sunrise workbench project however when I do I get an I/O configuation export failed message (See attached image).

According to Kukas manual: KUKA_SunriseOS_114_SI_en 11.7-"Exporting the I/O configuration to the Sunrise Project" I should have "using native hooks or polling" enabled which I believe it is (see attached image).

However when I attempt to export the IO configuration to the sunrise project I get an I/O Congiuration export failed message. I am very new to Kuka and have not been able to find any related issues online.

Thanks in advanced for your help.

I am trying to get smooth movement from the iiwa lbr while using FRI on KONI. From what I can tell I have a stable connection and have 0 jitter. the sunrise application uses a endless holdPosition command and I am streaming drive angles. As I stream the drive angles the robot has a stop and go motion (I should add that sometimes the motion appears smooth but the majority of the time there is the stop and go motion). I imagine this is because it reaches the position before the updated drive angles are sent via the fri client.

I am concerned that if I send drive angles that are farther ahead than the robot can move to on a constant basis wouldn't the robot constantly accelerator? I would like to place a know (non exception producing) velocity limit on the joint overlay however the only command I see that would do this is overrideJointAcceleration() but that must be between 1.0 and 20.0. Is there any get max acceleration or max velocity for a joint overlay or is there a way to reduce the max velocity.

Ultimately, I want to control the velocity based on the sample time to produce my own acceleration and velocity profiles but it appears that the iiwa wants to run full tilt from one fri client command to the next.

I am pretty new to the iiwa so there is probably something obvious I am missing, but any help would be greatly appreciated.

Thanks,
Siberian.

Hi,

I am implementing FRI on an iiwa lbr. I have been able to implement the sinusoidal joint overlay provided in the kuka example. Currently, I am implementing my kinematic solution using drive angles. I would like to get the current robot position to assist in controlling velocity however when I call robotState().getMeasuredJointPosition() it always returns a string of 0. Alternatively, the controller function call to LBR.getCurrentJointPosition() returns the expected joint positions.

Not sure what I am missing. Any help would be appreciated.

Thanks.