Documentation/Nightly/Extensions/LightWeightRobotIGT - Revision history

Lasso at 17:32, 16 December 2018

2018-12-16T17:32:58Z

Tauscher at 13:26, 23 October 2014

2014-10-23T13:26:01Z

Tauscher at 13:31, 24 September 2014

2014-09-24T13:31:13Z

Tauscher at 12:25, 24 September 2014

2014-09-24T12:25:59Z

Tauscher at 12:24, 24 September 2014

2014-09-24T12:24:13Z

Tauscher at 09:38, 24 September 2014

2014-09-24T09:38:11Z

Tauscher at 12:59, 23 September 2014

2014-09-23T12:59:16Z

Tauscher at 12:57, 23 September 2014

2014-09-23T12:57:24Z

Tauscher at 12:40, 23 September 2014

2014-09-23T12:40:05Z

Tauscher at 16:09, 19 September 2014

2014-09-19T16:09:50Z

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-*''Start Cyclic Communication'': Starts the cyclic communication with the state machine on the robot control
+*''Start Cyclic Communication'': Starts the cyclic communication with the state machine on the robot control and activates the connector nodes
 *''Start Visualisation'': Sends a command to the robot control to activate the visualization
 *''Stop Visualisation'': Sends a command to the robot control to deactivate the visualization

@@ Line 28: / Line 28: @@
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 {{documentation/{{documentation/version}}/module-section|Module Description}}
-The LightWeightRobotIGT module allows to communicate with a light weight robot (LWR iiwa, KUKA Laboratories GmbH, Germany, Augsburg) using an open interface concept based on the [http://openigtlink.org/ OpenIGTLink protocol] (LWROpenIGTIF). Therefore, a state machine example is available at [https://github.com/tauscherSw/LWROpenIGTIF.git Git Hub] containing the necessary interface classes for the communication on the robot control. The software documentation can be found [https://github.com/tauscherSw/LWROpenIGTIF.git Git Hub] as well. A tutorial on how to set up the robotic system for the use with this 3D Slicer module see [[Media:Tutorial_LightWeightRobotIGT_getting_started.pdf| LightWeightRobotIGT Getting Started]]. For an introduction of the interface concept see [[Media:Tutorial_LightWeightRobotIGT_Introduction.pdf| LightWeightRobotIGT Introduction]]. The module provides the following features:
+The LightWeightRobotIGT module allows to communicate with a light weight robot (LWR iiwa, KUKA Laboratories GmbH, Germany, Augsburg) using an open interface concept based on the [http://openigtlink.org/ OpenIGTLink protocol] (LWROpenIGTIF). Therefore, a state machine example is available at [https://github.com/tauscherSw/LWROpenIGTIF.git Git Hub] containing the necessary interface classes for the communication on the robot control. The software documentation can be found [https://github.com/tauscherSw/LWROpenIGTIF.git Git Hub] as well. A tutorial on how to set up the robotic system for the use with this 3D Slicer module see [[Media:Tutorial_LightWeightRobotIGT_Gettingstarted.pdf| LightWeightRobotIGT Getting Started]]. For an introduction of the interface concept see [[Media:Tutorial_LightWeightRobotIGT_Introduction.pdf| LightWeightRobotIGT Introduction]]. The module provides the following features:
 *Communication with the robot control
 **Bidirectional cyclic communication via ethernet with a state control running on the robot control. Command strings of the type "CommandName;p1;...;pn;" with the parameters ''p1-pn'' needed to initialise the states are sent to the robot control and acknowledge strings are received (see table below for a list of all supported command and acknowledge strings and their parameters).

@@ Line 28: / Line 28: @@
 <!-- ---------------------------- -->
 {{documentation/{{documentation/version}}/module-section|Module Description}}
-The LightWeightRobotIGT module allows to communicate with a light weight robot (LWR iiwa, KUKA Laboratories GmbH, Germany, Augsburg) using an open interface concept based on the [http://openigtlink.org/ OpenIGTLink protocol] (LWROpenIGTIF). Therefore, a state machine example is available at [http://www.example.com Git Hub] containing the necessary interface classes for the communication on the robot control. The software documentation can be found [http://www.example.com Git Hub] as well. A tutorial on how to set up the robotic system for the use with this 3D Slicer module see [[Media:Tutorial_LightWeightRobotIGT_getting_started.pdf| LightWeightRobotIGT Getting Started]]. For an introduction of the interface concept see [[Media:Tutorial_LightWeightRobotIGT_Introduction.pdf| LightWeightRobotIGT Introduction]]. The module provides the following features:
+The LightWeightRobotIGT module allows to communicate with a light weight robot (LWR iiwa, KUKA Laboratories GmbH, Germany, Augsburg) using an open interface concept based on the [http://openigtlink.org/ OpenIGTLink protocol] (LWROpenIGTIF). Therefore, a state machine example is available at [https://github.com/tauscherSw/LWROpenIGTIF.git Git Hub] containing the necessary interface classes for the communication on the robot control. The software documentation can be found [https://github.com/tauscherSw/LWROpenIGTIF.git Git Hub] as well. A tutorial on how to set up the robotic system for the use with this 3D Slicer module see [[Media:Tutorial_LightWeightRobotIGT_getting_started.pdf| LightWeightRobotIGT Getting Started]]. For an introduction of the interface concept see [[Media:Tutorial_LightWeightRobotIGT_Introduction.pdf| LightWeightRobotIGT Introduction]]. The module provides the following features:
 *Communication with the robot control
 **Bidirectional cyclic communication via ethernet with a state control running on the robot control. Command strings of the type "CommandName;p1;...;pn;" with the parameters ''p1-pn'' needed to initialise the states are sent to the robot control and acknowledge strings are received (see table below for a list of all supported command and acknowledge strings and their parameters).
@@ Line 57: / Line 57: @@
 *General interface concept and communication overview see [[Media:Tutorial_LightWeightRobotIGT_Introduction.pdf| LightWeightRobotIGT Introduction]]
 *Tutorial on how to set up your system and start the example see [[Media:Tutorial_LightWeightRobotIGT_Gettingstarted.pdf| LightWeightRobotIGT Getting Started]]
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@@ Line 56: / Line 56: @@
 {{documentation/{{documentation/version}}/module-section|Tutorials}}
 *General interface concept and communication overview see [[Media:Tutorial_LightWeightRobotIGT_Introduction.pdf| LightWeightRobotIGT Introduction]]
-*Tutorial on how to set up your system and start the example see [[Media:Tutorial_LightWeightRobotIGT_getting_started.pdf| LightWeightRobotIGT Getting Started]]
+*Tutorial on how to set up your system and start the example see [[Media:Tutorial_LightWeightRobotIGT_Gettingstarted.pdf| LightWeightRobotIGT Getting Started]]
 *How to add new states to the exemplary state machine see [[Media:Tutorial_LightWeightRobotIGT_add_module.pdf| LightWeightRobotIGT Add Module]]

@@ Line 74: / Line 74: @@
 *Registration tab:
 **''Free'': Sends a transition request to the ''Free'' state to the robot control, in which the robot can be moved freely and manually
-**''Get Fiducial from Robot'': Saves the current position in a fiducial list which can be used for a fiducial registration using modul XY
+**''Get Fiducial from Robot'': Saves the current position in a fiducial list which can be used for a fiducial registration using modul Fiducial Registration
 | align="right"|
 [[Image:PanelPrePositioning.jpg|thumb|400px|Prepositioning tab]]

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 *''Start Visualisation'': Sends a command to the robot control to activate the visualization
 *''Stop Visualisation'': Sends a command to the robot control to deactivate the visualization
 *''Path'': Path were the robot stl files are located
 *''Load Robot STL'': Loads the stl-files of the robot and the tool from the path defined by "Path".

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 {{documentation/{{documentation/version}}/module-section|Panels and their use}}
 {|
-|[[Image:Panel.jpg|thumb|300px|LighTWeightRobotIGT]]
+|[[Image:Panel.jpg|thumb|400px|LighTWeightRobotIGT]]
 |}
 {|style="width: 100%"
+|
-*''Start Communication'': Starts the cyclic communication with the state machine on the robot control
+*''Start Cyclic Communication'': Starts the cyclic communication with the state machine on the robot control
-*''Start Visualisation'': Sends a command to the robot control to activate the visualisation
+*''Start Visualisation'': Sends a command to the robot control to activate the visualization
-*''Stop Visualisation'': Sends a command to the robot control to deactivate the visualisation
+*''Stop Visualisation'': Sends a command to the robot control to deactivate the visualization
-*''Load Robot'': Loads the stl-files of the robot and the tool from the path defined by "Path".
+*''Img/Rob'': Changes the coordinate frame of the robot pose send from the robot control to image space or robot base frame
 *''Show TCP Force'': Visualizing the estimated force at the tool center point by a scaled 3D arrow pointing in force direction.
 *Registration tab:
 **''Free'': Sends a transition request to the ''Free'' state to the robot control, in which the robot can be moved freely and manually
-**''Get Fiducial'': Saves the current position in a fiducial list which can be used for a fiducial registration using modul XY
+**''Get Fiducial from Robot'': Saves the current position in a fiducial list which can be used for a fiducial registration using modul XY
 | align="right"|
 [[Image:PanelPrePositioning.jpg|thumb|400px|Prepositioning tab]]
@@ Line 69: / Line 71: @@
+|
 *Prepositioning tab:
 **''Virtual Fixture'': Sends a transition request to the ''VirtualFixtures'' state to the robot control in which the robot can be moved freely and manually in work space restricted by active constraints. The supported virtual fixtures geometries are ''plane'' and ''cone''.
-**''PathImp'': Sends a transition request to the ''Path'' state to the robot control, in which the robot can be moved on a linear path from the current position towards a target position.
+**''Path Impedence Control'': Sends a transition request to the ''Path'' state to the robot control, in which the robot can be moved on a linear path from the current position towards a target position.
 | align="right"|
 [[Image:PanelTargeting.jpg|thumb|400px|Prepositioning tab]]
@@ Line 76: / Line 81: @@
+|
 *Targeting:
-**''Move To'': Sends a transition request to the ''MoveTo'' state to the robot control in which the robot moves position controlled towards a target position.
+**''Move To Pose'': Sends a transition request to the ''MoveTo'' state to the robot control in which the robot moves position controlled towards a target position.
 *''Reset Robot to Idle'': Sends a transition request to the ''Idle'' state to the robot control
-*''Shut Down state machine'': Sends a command to shut down the state machine running on the robot control
+*''Shut Down State Machine'': Sends a command to shut down the state machine running on the robot control
 |}