kuka-sunrise-toolbox-cpp is a package developed for easy setup of Kuka IBR iiwa robot using C++. It is a packaged based on KST-Kuka-Sunrise-Toolbox (https://github.com/Modi1987/KST-Kuka-Sunrise-Toolbox), which is intended for Matlab users. The packaged has two parts: the Sunrise cabinet part, and the computer part. The Sunrise cabinet part is based on the original package, but has some modifications and additions. The computer side is based on C++.
This package can be used as a submodule of your project. Simply include the cpp and hpp files. An example is being developed based on ROS/ROS2 in https://github.com/bingogome/kuka-sunrise-toolbox-cpp-ros.
It can potentially used in other languages if a built C++ library can be called. Or, simply use other language and follow the same implementation method of this C++ package or the original Matlab package.
- Connect ethernet cable from Sunrise Cabinet port X66 to computer
- Check Sunrise Cabinet IP (default should be 172.31.1.147).
- Build and install the project under directory sunrise-cabinet-side as a Sunrise Project in Sunrise Workbench
- The easiest way is to copy the cpp and hpp files to your C++ project directly, setup your own CMake file (or equivalent).
- The subroutine to start the iiwa connection to your problem should contain:
- instantiate a KstServoing class,
- call KstServoing::NetEstablishConnection(),
- use the provided methods to command the robot, such as PTPJointSpace, PTPLineEEF.
- When you are ready to start the connection, go to the teaching pad and start ToolboxServer. Within 30 second, call KstServoing::NetEstablishConnection().
- Be sure to call KstServoing::NetTurnoffServer() when finish using the robot. Otherwise, the Cabinet side will continue to run and the only way to stop is to restart the cabinet.
- Be sure to read and understand the code before any operation. The developers are not liable for any damage to property and personel for misuse.
- When using PTPJointSpace and PTPLineEEF, make sure to pass in a proper relative velocity or absolute velocity. The relative velocity is a proportional number relVel, such that the robot will move at the relVel multiplied by maximum capacity. Absolution velocity vel is mm/sec.
- KstServoing::ServoDirectCartesianStart() is the method to start direct servoing. The frequency of direct servoing is 200-1000hz. If your application needs something higher than 1000hz, Kuka FRI may be a better choice.
- KstServoing::ServoSmartCartesianStart() is the method to start smart servoing. The frequency is 50-200hz.
Please consider to cite the following paper in which this module was first used in published work. Please also consider to cite the original repository (https://github.com/Modi1987/KST-Kuka-Sunrise-Toolbox). The publised work of the original KST is documented in that repository.
@inproceedings{liu2022inside, title={Inside-out tracking and projection mapping for robot-assisted transcranial magnetic stimulation}, author={Liu, Yihao and Liu, Shuya Joshua and Sefati, Shahriar and Jing, Tian and Kheradmand, Amir and Armand, Mehran}, booktitle={Optical Architectures for Displays and Sensing in Augmented, Virtual, and Mixed Reality (AR, VR, MR) III}, volume={11931}, pages={57--70}, year={2022}, organization={SPIE} }
Liu, Y., Liu, S. J., Sefati, S., Jing, T., Kheradmand, A., & Armand, M. (2022, March). Inside-out tracking and projection mapping for robot-assisted transcranial magnetic stimulation. In Optical Architectures for Displays and Sensing in Augmented, Virtual, and Mixed Reality (AR, VR, MR) III (Vol. 11931, pp. 57-70). SPIE.