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Modi1987 / KST-Kuka-Sunrise-Toolbox

A ToolBox for controlling KUKA iiwa robot from matlab:
https://youtu.be/eh5s8PTe5VM
MIT License
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How to get data from the robot (i.e. pose/forces) with regular frequency? #11

Closed TommasoBendinelli closed 4 years ago

TommasoBendinelli commented 4 years ago

Hello, How can I obtain with a regular frequency (for instance 30Hz) the robot pose?

Best, Tommaso

Modi1987 commented 4 years ago

Hi,

I believe you want to acquire the feedback (pose/force) while the robot is in motion.

Using the KST this is possible as shown in the videos below: https://youtu.be/VZ_qdbTzN4I https://youtu.be/V6gTn_kers8

The code for the application in the video above is available in: https://github.com/Modi1987/KST-advanced-examples/tree/master/Vrep_realtime_simulation_of_robot_PTPmotion

For a semplied example, you can see the following files in the "Matlab_client" folder: KSTclass_Tutorial_nonBlockingWithFeedback.m KSTclass_Tutorial_nonBlockingWithForceFeedback.m KSTclass_Tutorial_realTimeImpedencePlotTorqueFeedBack.m

Regarding the frequency of the measurments. In the previous examples, a feedback (measurement) is acquired each time the corresponding feedback function is called. Thus, to achieve a regular frequency, you have to call the feedback function regularly from your code.

I advice you to go through the documentation and the video tutorials for more information.

Cheers!

TommasoBendinelli commented 4 years ago

Thank you!