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Kuka kr16 and dynamics?

asked 2022-06-29 11:04:43 -0500

PRA008 gravatar image

Hello everyone

This thread is open to asking short questions to find answers.

I am a student who is using the KUKA KR16 L6-2 robot in research, and now I am having a very confused problem and not sure if I can do it.

My teacher wanted me to use it with impedance controls, which I know are essential for dynamics calculations.

I think this is not possible with this robot and just to be sure please tell me if the KUKA KR16 L6-2 robot besides kinematics can do dynamics calculations and where should I find its additional parameters enough to calculate?

P.S. I'm a newbie so this question might seem silly to some. I'm very sorry.

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I was doing admittance control on KUKAs with external FTS sensor. And yes for impedance control you need dynamic model which can be estimated from CAD data and make batter later. Nevertheless, have fun going that path, it will be ... fun...

destogl gravatar image destogl  ( 2022-06-29 16:20:00 -0500 )edit

Have fun until tears flow, right? hahaha, thanks for the answer. I'm currently using the F/T Sensor: mini40 to control the robot. I'll try to find and study the dynamic model as you tell.

PRA008 gravatar image PRA008  ( 2022-06-29 23:31:45 -0500 )edit

Technically, this doesn't appear to be a ROS question.

You're asking about capabilities/restrictions of KUKA robots. It doesn't really matter which particular KR model it is, because anything connected to a KRC (ie: KR C2, KR C4, KR C5, etc) and controlled via RSI would not offer anything but position control.

please tell me if the KUKA KR16 L6-2 robot besides kinematics can do dynamics calculations

again, technically, the answer to this question, verbatim, would be: of course the KUKA controller includes dynamics in its control laws. Not the robot, but the controller.

But I don't believe that's what you're asking.

gvdhoorn gravatar image gvdhoorn  ( 2022-06-30 02:56:21 -0500 )edit

@gvdhoorn Thanks for your answer. And yes it's not about ros, I'm sorry I asked in this community. Your answer gave me a very good answer to my question. I'm really skeptical about the robot's abilities.

PRA008 gravatar image PRA008  ( 2022-06-30 05:43:29 -0500 )edit

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answered 2022-06-29 11:29:21 -0500

cst0 gravatar image

I think this is not possible with this robot

I'm not so sure ;)

When interfacing between a robot and ROS, it's very common for developers to write this code using the ros_control package. I'm guessing whatever package you're using to control the Kuka (probably something in ROS Industrial?) has done it this way. There are velocity controllers, position controllers, and others, all configured by a YAML file for the robot.

In ROS-lingo, we would call this an "effort controller". You can read more about this here and mostly on the ros_control documentation here and here.

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Thank you very much for your answer. To be honest, there are many more in the package that I haven't studied and understood and I will try to understand from the link you provided.

PRA008 gravatar image PRA008  ( 2022-06-29 11:48:06 -0500 )edit

I know of no drivers for KUKA RSI which expose effort/torque interfaces. There are no external torque interfaces to a KR16, so the effort controllers from ros_control would not be compatible.

The only interface you'd have would be position control (and a kind of velocity control, when using relative mode RSI).

That doesn't mean you can't implement something like admittance control. It would just not be based on effort/torque control.

gvdhoorn gravatar image gvdhoorn  ( 2022-06-30 02:53:58 -0500 )edit

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Asked: 2022-06-29 11:04:43 -0500

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Last updated: Jun 29 '22