IIWA Kinematics

Ubuntu 16.04 + ROS Kinetic

Kinematics implementation for the KUKA LBR IIWA R820 (14 Kg). Video: https://youtu.be/L5daeWuy1js

Getting Started

If you do not have an active ROS workspace, you can create one by:

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make

Clone this repo into the src directory of your workspace:

$ cd ~/catkin_ws/src
$ git clone https://github.com/gwwang16/iiwa_kinematics.git

Install dependencies

$ cd ~/catkin_ws
$ sudo apt-get update
$ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
$ cd ~/catkin_ws/src/iiwa_kinematics/iiwa_arm/scripts
$ chmod +x safe_spawner.sh
$ chmod +x target_spawn.py
$ chmod +x IK_server.py

Build the project:

$ cd ~/catkin_ws
$ catkin_make

Add following to your .bashrc file

$ export GAZEBO_MODEL_PATH=~/catkin_ws/src/iiwa_kinematics/iiwa_arm/models
$ source ~/catkin_ws/devel/setup.bash

Forward kinematics demo

For demo mode make sure the demo flag is set to "true" in inverse_kinematics.launch file under iiwa_kinematics/iiwa_arm/launch

$ roslaunch iiwa_arm forward_kinematics.launch

Launch the project

$ cd ~/catkin_ws/src/iiwa_kinematics/iiwa_arm/scripts
$ ./safe_spawner.sh

To run your own Inverse Kinematics code change the demo flag described above to "false" and run your code (once the project has successfully loaded) by:

$ cd ~/catkin_ws/src/iiwa_kinematics/iiwa_arm/scripts
$ rosrun iiwa_arm IK_server.py

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References:

Udacity kinematics project: https://github.com/udacity/RoboND-Kinematics-Project

iiwa urdf and gazebo package: https://github.com/rtkg/lbr_iiwa

Computing Euler angles from a rottion matrix http://thomasbeatty.com/MATH%20PAGES/ARCHIVES%20-%20NOTES/Applied%20Math/euler%20angles.pdf