Configuration of iiwa - Githubissues

Modi1987 / KST-Kuka-Sunrise-Toolbox

A ToolBox for controlling KUKA iiwa robot from matlab:

https://youtu.be/eh5s8PTe5VM

MIT License

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Configuration of iiwa #5

Open Munrel opened 5 years ago

Munrel commented 5 years ago

Hi, May I ask you some questions about the configuration of iiwa. 1.Which software packages should I install in iiwa if I want to do researches about force and torque？ 2.Did you use FRI in your researches? I would appreciate it if you could help me.

Modi1987 commented 5 years ago

Hi,

For realtime control I am using the Direct.Servo and Smart.Servo librarries (different from FRI). According to my knowledge the (Direct.Servo and Smart.Servo) librarries support position control mode only. Unfortunatly, I am not aware of how to control the iiwa at joints torques level.

Cheers

Munrel commented 5 years ago

Hi, Thank you. Those libraries are in MATLAB? Or how can I get them? Cheers

Modi1987 commented 5 years ago

Please check the video tutorials here Everything you asked about is explained in it.

Munrel commented 5 years ago

Hi, Thanks for your guide : ) Cheers