Difference between revisions of "Documentation/Nightly/Extensions/LightWeightRobotIGT"
Line 28: | Line 28: | ||
<!-- ---------------------------- --> | <!-- ---------------------------- --> | ||
{{documentation/{{documentation/version}}/module-section|Module Description}} | {{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. 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 [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: |
*Communication with the robot control | *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). | **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). |
Revision as of 12:59, 23 September 2014
Home < Documentation < Nightly < Extensions < LightWeightRobotIGT
For the latest Slicer documentation, visit the read-the-docs. |
WARNING: This module is Work in Progress, which means:
|
Introduction and Acknowledgements
This work is supported in part by the National Institute of Health (R01CA111288, P01CA067165, P41RR019703,P41EB015898, R01CA124377, R01CA138586, R42CA137886, and
U54EB005 149) and is funded by KUKA Laboratories GmbH (Augsburg, Germany).
Module DescriptionThe 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 OpenIGTLink protocol (LWROpenIGTIF). Therefore, a state machine example is available at Git Hub containing the necessary interface classes for the communication on the robot control. The software documentation can be found Git Hub as well. A tutorial on how to set up the robotic system for the use with this 3D Slicer module see LightWeightRobotIGT Getting Started. For an introduction of the interface concept see LightWeightRobotIGT Introduction. The module provides the following features:
Use CasesN/A Tutorials
Panels and their use
Similar ModulesN/A References
Information for Developers
|