A driver used to control KUKA iiwa robots, the 7R800 and the 14R820, from inside your RoboDK simulation.
The package contains two main folders:
1- RoboDKscript: contains the python files that shall be added to your RoboDK simulation.
2- SunriseController: contains the java files which shall be synchronized to the robot controller using your Sunrsie.Workbench.
Videos on the driver will be available in this YouTube channel.
To setup the RoboDKiiwaInterface follow the steps:
1- You will need an external PC with the Sunrise.Workbench installed on it.
2- Establish a peer to peer connection between the external PC and the robot, described in videos 1 and 2 of the play list;
3- Make sure that you have the Direct.Servo installed in your kuka iiwa as shown in this video;
4- Synchronise the RoboDKiiwaInterface.java Application into the robot controller;
1- Make sure that you have Python3.7 installed and recognized by your RoboDK.
2- Prepare your RoboDK simulation with the KUKA iiwa robot.
3- Add the python script RoboDKiiwaInterface_verXX.py script into your RoboDK simulation.
4- After adding it, double click the python script RoboDKiiwaInterface_verXX from inside RoboDK, and you shall see a graphical interface.
After setting up the driver, you can perfrom the following steps to control the robot from your RoboDK simulation:
1- Run the application "RoboDKiiwaInterface" from the smartPad of the robot.
2- You have 60 seconds to connect from the Python script (in your RoboDK) before the server is shut down automatically.
From inside the python GUI (of the script RoboDKiiwaInterface_verXX) click on the button connect (after filling in the GUI with the correct values - Robot IP and Tool's parameters).
Copyright: Mohammad Safeea, first commit 14-08-2020
Note: This is still an expermintal package