Errors during importing KST to SunriseWorkbench

[TianXu1991]

Dear Dr. Safeea, I’m following your KST tutorials and I encounter some problems. I’m now trying to import KST to SunriseWorkbench (Version 1.7). But there are some error icons near the copied java files. I have added the Direct Servo Motion Extension and Smart Servo Motion Extension in the StationSetup.cat, however, the errors still exist. The specific error messages are listed in the attachment below. I have tried to select different media flange when establishing a new project and to use different KST version from KST_1.6 to KST_1.7, but they are no use. Could you help me analyze the reasons of the problems that I have? I really don’t know how to deal with it. Thanks a lot. Tian Xu. Error Messages.pdf

[Modi1987]

Hello Tian,

After looking at the PDF that you provided, it seems to me that the cause of the errors is due to two main reasons: 1- Media flange: your robot has an electric flange, so make sure that you are using the Sunrise Server with the name universal_no_flange 2- Direct/Smart servo libraries: your Workbench is not recognizing the Direct/Smart servo libraries. Now, if you followed the steps in the YouTube video (Add DirectServo and SmartServo libraries to Sunrise.Workbench), then make sure that you tick the boxes near the DirectServo and SmartServo in the (StationSetup.cat) file. Sometimes the errors do not disappear immediately after you modify the (StationSetup.cat) file. In such a case, you have to save the project and normally the errors will disappear.

Try previous steps, if they did not work attach a photo of the (StationSetup.cat) file.

Cheers

[TianXu1991]

Dear Dr. Safeea, 1- We’re sure that we use the ‘KST_1.6_iiwa14R820_Universal_noFlange’. 2- We have added the two libraries to sunrise workbench (version 1.7). Besides, we indeed ticked the boxes. The photo of our (StationSetup.cat) file. was shown in Fig.1 in the attachment.

Whether the errors are caused by our low version of sunrise workbench, 1.7? Today, I tried to use another class names to replace the original class names in your toolbox, for example,

‘import com.kuka.roboticsAPI.motionModel.DirectServo’ instead of ‘import com.kuka.connectivity.motionModel.directServo.DirectServo’

‘import com.kuka.roboticsAPI.motionModel.IDirectServoRuntime’ instead of ‘import com.kuka.connectivity.motionModel.directServo.DirectServo’

‘import com.kuka.roboticsAPI.motionModel.ISmartServoRuntime’ instead of ‘import com.kuka.connectivity.motionModel.smartServo.ISmartServoRuntime’

‘import com.kuka.roboticsAPI.motionModel.ServoMotion’ instead of ‘import com.kuka.connectivity.motionModel.smartServo.ServoMotion’

‘import com.kuka.roboticsAPI.motionModel.SmartServo’ instead of ‘import com.kuka.connectivity.motionModel.smartServo.SmartServo’

After these replacement, the errors in the java files disappear, however, when I try to synchronize the project, another error appears, which is shown in Fig.6 in the attachment..

Do you think if my method of revising the class names are right? Besides, if our sunrise workbench version 1.7 are okay for the KST? And what should I do to deal with the original errors and the new error?

I’m really sorry to disturb you so much and thank you for your reply and help very much! Tian Xu. Error messages2.pdf

[Modi1987]

Dear Tian,

Unfortunately, I could not find an answer to the issue. The KST was tested on Sunrise.OS/workbench 1.11.0.7 on iiwa 7R800 which is the only KUKA robot we have in the university. Probably you can ask KUKA for support? In case you get it to work, please share with us the solution.

Don't worry, you are not disturbing, good luck

Regards

[TianXu1991]

Dear Dr. Safeea,

Thank you for your reply. A good news! We have solved our previous problems. Now we share the solutions with everyone here. Step 1: We install the ‘Direct Servo Motion Extension’ library to our project because we miss this library. (For other people, please make sure that the ‘Direct Servo Motion Extension’ library and the ‘Smart Servo Motion Extension’ are both installed in the project.) Step 2: We comment the following syntaxes, ‘import com.kuka.connectivity.motionModel.directServo.DirectServo’ and ‘import com.kuka.connectivity.motionModel.directServo.IDirectServoRuntime’ in the BackgroundTask.java and MatlabToolboxServer.java; ‘import com.kuka.connectivity.motionModel.smartServo.ISmartServoRuntime’, ‘import com.kuka.connectivity.motionModel.smartServo.ServoMotion’ and ‘import com.kuka.connectivity.motionModel.smartServo.SmartServo’ in the SmartServoWithImpedence.java. Step 3: Some errors still exist because now we have not imported the direct servo and smart servo library in the project. At this moment, we just put the mouse for the error code line to use the suggested import by the sunrise. Then, the errors will disappear. Step 4: We modified the package name to ‘application’, not the ‘lbrExampleApplications’, because our codes are all in the ‘application’ package. Other people may not need to conduct this step. If you want to do this like us, please remember to also modify the names, such as ‘application’ instead of ‘lbrExampleApplications’, in first line in all codes of the KST. Done.
Our workbench version is 1.7. And all the libraries version that we use and the specific discriptions are shown in the attachment below. Thank you for your reply and help all the time! Tian Xu. Solution for our problems.pdf

[maithamphysics]

Hi Mr Tian

Please, how did you install : Direct Servo Motion Extension and Smart Servo Motion Extension? and please, if you still have the file maybe you can share it with us and we are really appreciate it.

Thank you

Maitham

[ayxworks]

Hi Mr Tian

Please, how did you install : Direct Servo Motion Extension and Smart Servo Motion Extension? and please, if you still have the file maybe you can share it with us and we are really appreciate it.

Thank you

Maitham

Hello everyone,

Are these software libraries in all iiwa or do I need to ask kuka for these two software installations? when i go to the software tag there I cannot see Direct Servo Motion Extension nor Smart Servo Motion Extension?

thank you for your help.

[ayxworks]

If anyone is looking for these packages, apparently is part of the sunrise.servoing tecnology package. You need to buy from kuka.

[Modi1987]

Hello,

If you do not have the Sunrise.Servoing librarry, you can check the following package IIWAContorlToolbox which works without requiring the servo librarry.

Cheers

[ayxworks]

Hello,

If you do not have the Sunrise.Servoing librarry, you can check the following package IIWAContorlToolbox which works without requiring the servo librarry.

Cheers

Oh yeah I downloaded that, but haven't tried it yet. I was looking at the code and wondering what differences there are? Can I still control the robot through Matlab? I'm guessing no, right? What I wanted to try were using remote controller to move the robot or try an implementation like you did with hand sensor collision avoidance, but i think that is impossible without the technology.

Thank you for your help and support. This repo that you made is god send haha

It would be helpful to know what limitations there are between your two packages IIWAContorlToolbox and KST